TY - GEN
T1 - Multi-robot cooperative formation for overweight object transportation
AU - Eoh, Gyuho
AU - Jeon, Jae D.
AU - Choi, Jeong S.
AU - Lee, Beom H.
PY - 2011
Y1 - 2011
N2 - This paper presents cooperative formation to transport an overweight object by means of multi-robot. Previous studies on object transportation have mainly focused on multi-robot coordination and architecture. However, successful object transportation is strongly related to the robot formation in the real world. Based on this need, we suggest what is termed the pusher-puller formation, which relies on pushing and pulling (or grasping) behaviors. The pusher pushes an object from behind, and the puller pulls it from the front. This formation was more robust and stable than others: straight-line and symmetrical formation. Real experiments are presented to test the validity and practicality of the proposed approach.
AB - This paper presents cooperative formation to transport an overweight object by means of multi-robot. Previous studies on object transportation have mainly focused on multi-robot coordination and architecture. However, successful object transportation is strongly related to the robot formation in the real world. Based on this need, we suggest what is termed the pusher-puller formation, which relies on pushing and pulling (or grasping) behaviors. The pusher pushes an object from behind, and the puller pulls it from the front. This formation was more robust and stable than others: straight-line and symmetrical formation. Real experiments are presented to test the validity and practicality of the proposed approach.
UR - https://www.scopus.com/pages/publications/84863141808
U2 - 10.1109/SII.2011.6147538
DO - 10.1109/SII.2011.6147538
M3 - Conference contribution
AN - SCOPUS:84863141808
SN - 9781457715235
T3 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
SP - 726
EP - 731
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Y2 - 20 December 2011 through 22 December 2011
ER -