複数モバイル·マニピュレータによる物体のCagingの実現

抄録

In this paper, we address a novel approach to transport plane objects via multiple mobile-manipulators by using the concept of Object Closure. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. Properties of Object Closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed. A fast test algorithm for checking the Object Closure condition is proposed and is illustrated by a caging experiment with three mobile-manipulators.