In this paper, we address the cooperative towing of payloads by multiple mobile robots in the plane. Robots are attached via cables to a planar object or a pallet carrying a payload. Coordinated motion by the robots allow the payload to be manipulated through a planar, warehouse-like environment. We formulate a quasi-static model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present experimental and simulation results that demonstrate the basic concepts.
- Design Engineering Division and Computers in Engineering Division
Cooperative Towing With Multiple Robots
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Fink, J, Cheng, P, & Kumar, V. "Cooperative Towing With Multiple Robots." Proceedings of the ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B. Brooklyn, New York, USA. August 3–6, 2008. pp. 1269-1276. ASME. https://doi.org/10.1115/DETC2008-49916
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