This paper describes our experiments with a distributed manipulation system. We study a system in which multiple robots cooperate to move large objects such as furniture and boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting translations using a flossing manipulation gait, and affecting rotations using a ratcheting manipulation gait. We present experimental data and discuss the non-holonomic nature of this system.
Experiments in constrained prehensile manipulation: Distributed manipulation with ropes
Lect Notes Control Inf Sci
30.04.2008
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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