抄録
Some complex and diverse behaviors of robot can be represented by hybrid dynamical system which contains both continuous and discrete dynamics. This paper proposes a method that generates motion based on a framework to carry out tasks of cooperative pushing by multiple robots using mode-transition under a framework of the hybrid dynamical system. In particular,we divide the pushing behavior into two modes, "non-contact mode" and "contact mode". We set the motion of robot to move a position where the robot can press the object as "non-contact mode" and the motion of robot to push the object till goal as "contact mode". We generate an appropriate behavior of multiple robots in simulation and demonstrate the effectiveness of the proposed method.]
