ロボットの追加・交代が可能な協調搬送システムの実現に向けた伸縮機構搭載ロボット群の開発と制御

抄録

Cooperative transport systems by swarm robots are expected to handle a wide variety of objects. However, no studies have been reported for cases where a robot is stuck or the load is heavier than expected. This paper proposes the actual robotic system for distributing the load by adding robots or alternating the robot when a robot gets stuck. After designing the robot equipped with a telescopic mechanism, we create the autonomous flow for adding or alternating robots. It has been confirmed that the system functioned according to the designed flow throughout the object transporting experiments.