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- Publisher Website: 10.1109/RISSP.2003.1285571
- Scopus: eid_2-s2.0-84990997740
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Conference Paper: Cooperative object caging by using multiple mobile-manipulators
Title | Cooperative object caging by using multiple mobile-manipulators |
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Authors | |
Issue Date | 2003 |
Citation | Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003, 2003, v. 2003-October, p. 184-189 How to Cite? |
Abstract | This paper presents a new approach of multi-robots object transportation by using the concept of object closure. In contrast to form or force closure, 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 used for efficient testing of object closure. Properties of the CC-closure object and testing algorithm are described. Finally, an example of object closure constructed from both bodies and hands of mobile-manipulators is discussed. |
Persistent Identifier | http://hdl.handle.net/10722/302951 |
DC Field | Value | Language |
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dc.contributor.author | Wang, Zhi Dong | - |
dc.contributor.author | Hirata, Y. | - |
dc.contributor.author | Kosuge, K. | - |
dc.date.accessioned | 2021-09-07T08:42:54Z | - |
dc.date.available | 2021-09-07T08:42:54Z | - |
dc.date.issued | 2003 | - |
dc.identifier.citation | Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003, 2003, v. 2003-October, p. 184-189 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302951 | - |
dc.description.abstract | This paper presents a new approach of multi-robots object transportation by using the concept of object closure. In contrast to form or force closure, 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 used for efficient testing of object closure. Properties of the CC-closure object and testing algorithm are described. Finally, an example of object closure constructed from both bodies and hands of mobile-manipulators is discussed. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 | - |
dc.title | Cooperative object caging by using multiple mobile-manipulators | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/RISSP.2003.1285571 | - |
dc.identifier.scopus | eid_2-s2.0-84990997740 | - |
dc.identifier.volume | 2003-October | - |
dc.identifier.spage | 184 | - |
dc.identifier.epage | 189 | - |