Abstract
In cooperative object transportation by mobile robots, complex motions of robots are required. Therefore omnidirectional mobile robots are suitable for the cooperative transportation. Most of existing omnidirectional wheels have complex mechanism, and are not practical. Active-caster wheels features simple mechanism and high positioning accuracy, and they will enable the robots to carry out more accurate object transporation. In this study, a cooperative object transportation system with two active-caster-wheeled robots is implemented. The effectiveness of the system is evaluated through experiment.
