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- Publisher Website: 10.1109/ROBOT.2004.1308049
- Scopus: eid_2-s2.0-3042668787
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Conference Paper: Control a rigid caging formation for cooperative object transportation by multiple mobile robots
Title | Control a rigid caging formation for cooperative object transportation by multiple mobile robots |
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Authors | |
Issue Date | 2004 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2004, v. 2004, n. 2, p. 1580-1585 How to Cite? |
Abstract | This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object and testing algorithms using properties of CC-Closure Object Also the scaling and control problem of caging formation is addressed and two algorithms to realize two-effectors pushing on fixed caging formation control is proposed. |
Persistent Identifier | http://hdl.handle.net/10722/302745 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Wang, Zhi Dong | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:30Z | - |
dc.date.available | 2021-09-07T08:42:30Z | - |
dc.date.issued | 2004 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2004, v. 2004, n. 2, p. 1580-1585 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302745 | - |
dc.description.abstract | This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object and testing algorithms using properties of CC-Closure Object Also the scaling and control problem of caging formation is addressed and two algorithms to realize two-effectors pushing on fixed caging formation control is proposed. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Control a rigid caging formation for cooperative object transportation by multiple mobile robots | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.2004.1308049 | - |
dc.identifier.scopus | eid_2-s2.0-3042668787 | - |
dc.identifier.volume | 2004 | - |
dc.identifier.issue | 2 | - |
dc.identifier.spage | 1580 | - |
dc.identifier.epage | 1585 | - |