双腕移動ロボットを用いた物体のマニピュレーションのための分散協調制御

抄録

In this paper, we propose a decentralized motion control algorithm of mobile robots with dual manipulators for manipulating an object. In this algorithm, the representative point of each robot is controlled as if it had a caster-like dynamics in 3D space so that robots can manipulate the object without a geometric relation between the robots. Validity of this algorithm is illustrated by experiments.