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OuijaBots: Omnidirectional Robots for Cooperative Object Transport with Rotation Control Using No Communication

  • Zijian Wang
  • Guang Yang
  • Xuanshuo Su
  • Mac Schwager
Chapter
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 6)

Abstract

We propose a distributed force and torque controller for a group of robots to collectively transport objects with both translation and rotation control. No explicit communication among robots is required. This work goes beyond previous works by including rotation control and experimental demonstrations on a custom built robot platform. We prove that follower robots can synchronize both their forces and torques to a leader (either a robot or human) that guides the group, and thus contribute positively to the transport. We introduce a custom-designed omnidirectional robot platform, called the OuijaBot, with sensing and actuation capabilities for cooperative manipulation. Our approach is verified by experiments with four OuijaBots successfully transporting and rotating a payload through a narrow corridor.

Keywords

Multi-robot manipulation Cooperative mobile manipulation 

Notes

Acknowledgements

This work was supported by NSF grant CNS-1330036, and also by the Toyota-SAIL Center for AI Research. The authors are grateful for this support.

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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Zijian Wang
    • 1
  • Guang Yang
    • 2
  • Xuanshuo Su
    • 2
  • Mac Schwager
    • 1
  1. 1.Department of Aeronautics and AstronauticsStanford UniversityStanfordUSA
  2. 2.Department of Mechanical EngineeringBoston UniversityBostonUSA

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