Abstract
We address a decentralized control method for object transportation in coordination by a leader-follower type multiple robot system. The proposed system consists of a pushing leader, a robot without grasping mechanisms, and multiple follower robots. During the object transportation, a desired trajectory is given to the leader robot only, and follower robots estimate the trajectory of the leader based on force/moment from the object. In the proposed system, a variable internal force is introduced to each robot’s controller in decentralized style to let the follower’s estimator work on not only the pushing but also the “pulling” case that the leader needs to slow down or stop the object. Finally, a robot system including three omnidirectional mobile robots is presented and an experiment result is shown to illustrate the concept of the proposed control algorithm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ahmadabadi M.N. and Nakano E., A constrain and move approach to distributed object manipulation protocols, IEEE Transaction on Robotics and Automation, 17(2), pp.157–172, 2001.
Ahmadabadi M.N., Rushan S.M., Wang Z.D., Nakano E., A Constrain-Move based distributed cooperation strategy for four object lifting robots, IROS2000, pp.2030–2035, 2000.
Asama H., Matsumoto A., and Ishida T., Design of an Autonomous and Distributed Robot System, IROS1989, pp.283–290, 1989.
Bicchi, A., and Kumar, V., Robotic Grasping and Contact, ICRA2000, pp.348–353, 2000.
Brown R.G. and Jennings J.S., A Pusher/Steerer Model for Strongly Cooperative Mobile Robot Manipulation, IROS1995, pp.562–568, 1995.
Donald B.R., Jenning J. and Rus D., Information invariants for distributed manipulation, Int. Journal of Robotics Research, 16(5), pp.673–702, 1997.
Hirata Y., Kosuge K., et al., Coordinated Transportation of a Single Object by Multiple Mobile Robots without Position Information of Each Robot IROS2000, pp.2024–2029, 2000.
Hirata Y., Kakagi T., et al., Manipulation of a Large Object by Multiple DR Helpers in Cooperation with a Human IROS2001, pp.126–131, 2001.
Hirata Y., Kume Y., Wang Z.D., and Kosuge K., Decentralized Control of Multiple Mobile Manipulators Based on Virtual 3-D Caster Motion of Handling an Object In Cooperation with a Human ICRA2003, pp.938–943, 2003.
Hirata Y., Kume Y., et al., Handling of an Object by Multiple Mobile Manipulators in Coordination bas ed on Caster-like Dynamics, ICRA2004, 2004.
Johnson P.J. and Bay J.S., Distributed Control of Simulated Autonomous Mobile Robot Collectives in Payload Transportation, Autonomous Robots, 2(1), pp.43–63, 1995.
Khatib O., Yokoi K., and et al., Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation, IROS1996, pp 546–553, 1996.
Kimura H., and Wang Z.D., Huge-Object Manipulation in Space by Vehicle-Type Robots, JSME Int. Journal, Series C., 38(3), pp. 543–551, 1995.
Koga M., Kosuge K., Furuta K., and Nosaki K., Coordinated motion control of robot arms based on the virtual internal model, IEEE Trans, on Robotics and Automation, Vol.1, No.1, pp. 77–85, 1992.
K. Kosuge, T. Oosumi, Decentralized Control of Multiple Robots Handling an Object, IROS1996, pp.318–323, 1996.
Kume Y., Hirata Y., Wang Z.D., and Kosuge K., Decentralized Control of Multiple Mobile Manipulators Handling a Single Object in Coordination, IROS2002, pp.2758–2763, 2002.
Lynch K.M. and Mason M.T., Stable Pushing: Mechanics, Controllability, and Planning, Int. J. Robotics Research, 16(6), pp.533–556, 1996.
Lynch K.M. and Mason M.T., Dynamic nonprehensile manipulation: Controllability, planning, and experiments, Int.J.Robotics Research, 18(1), pp.64–92,1999.
Kube C.R. and Zhang H., Task Modelling in Collective Robotics, Autonomous Robots, 4(1), pp 53–72, 1997.
Nakamura Y., Nagai K., Yoshikawa T., Dynamics and Stability in Coordination of Multiple Robotic Mechanisms, Int.J.Robotics Research, 8(2),pp.44–61,1989.
Mataric M.J., Nilsson M., and Simsarian K.T., Cooperative Multi-Robot Box-Pushing, IROS95, pp.556–561, 1995.
Ota J., Miyata N., Arai T., and et.al, Transferring and Regrasping a Large Object by Cooperation of Multiple Mobile Robots, IROS95, pp.543–548, 1995.
Parker L. E., ALLIANCE: an architecture for fault tolerant multirobot cooperation, IEEE Tran. on Robotics and Automation, 14(2), pp.220–240, 1998.
Rimon E. and Burdick J.W., Mobility of Bodies in Contact-I: A New 2 nd Order Mobility Index for Multiple-Finger Grasp. IEEE Trans. Robotics and Automation, 14(5) pp.696–708, 1998
Sudsang A., Rothganger F., and Ponce J., Motion planning for disc-shaped robots pushing a polygonal object in the pl ane, IEEE Tran. on Robotics and Automation, 18(4). pp.550–562, 2002.
Sugar T., and Kumar V., Multiple Cooperating Mobile Manipulators, ICRA99, pp. 1538–1543, 1999.
Takeda H., Hirata Y., Wang Z.D., and Kosuge K., Collision Avoidance Algorithm for Multiple Tracked Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept, DARS 5, pp. 155–164, 2002.
Uchiyama M. and Dauchez P., A symmetric hybrid position/force control scheme for the coordination of two robots, ICRA88, pp.350–355, 1988.
Wang Z.D., Nakano E., and Matsukawa T., A New Approach to Multiple Robots’ Behavior Design for Cooperative Object Manipulation, DARS 2, pp.350–361, 1996.
Wang Z.D., Nakano E. and Takahashi T., Solving Function Distribution and Behavior Design Problem for Cooperative Object Handling by Multiple Mobile Robots IEEE Tran.on Systems, Man, and Cybernetics A, 33(5), pp.537–549, 2003
Wang Z.D. and Kumar V., A Decentralized Test Algorithm for Object Closure by Multiple Cooperating Mobile Robots, DARS 5, pp. 165–174, 2002.
Wang Z.D., Kumar V., Hirata Y., and Kosuge K., A Strategy and a Fast Testing Algorithm for Object Caging by Multiple Cooperative Robots, ICRA 2003, pp.938–943, 2003.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer
About this paper
Cite this paper
Wang, Z., Takano, Y., Hirata, Y., Kosuge, K. (2007). Decentralized Cooperative Object Transportation by Multiple Mobile Robots with a Pushing Leader. In: Alami, R., Chatila, R., Asama, H. (eds) Distributed Autonomous Robotic Systems 6. Springer, Tokyo. https://doi.org/10.1007/978-4-431-35873-2_44
Download citation
DOI: https://doi.org/10.1007/978-4-431-35873-2_44
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35869-5
Online ISBN: 978-4-431-35873-2
eBook Packages: EngineeringEngineering (R0)