Abstract
Recently, robots are developed to support and to help for personal works effectively in home and office. Especially, it is hopeful for the robot to transport heavy loads in order to improve the working efficiency in logistics field. Automated guided vehicles perform a stable transportation by lifting the center of gravity of the object. However, it is difficult to transport various kinds of objects because of limitations in size and shape. In this research, a transportation robot is developed to transport objects in various sizes and shapes automatically. Specifically, a cooperative transportation system is proposed by using two robots to carry a large object that cannot be transported by one robot. The model based on a holonomic property is compared to the model based on using heterogenous robots in simulations. The experimental results using real robots are also presented.
