Transport of an object by six pre-attached robots interacting via physical links
Transport of an object by six pre-attached robots interacting via physical links
复制标题
由六个预先连接的机器人通过物理链接进行交互来运输物体
DOI：
10.1109/robot.2006.1641891
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Dorigo
中科院分区：
文献类型：
--
作者：
R. Groß;F. Mondada;M. Dorigo
研究了一组移动的机器人协同搬运重物的问题。我们提出了一个系统中，缺乏知识的运输目标的位置的组成员利用物理与其他成员的组，有这样的知识的相互作用。这是第一个这样的系统，以实现性能优于一个被动脚轮上级。该系统是完全分散的，机器人之间的信息流仅限于物理交互。机器人不知道它们的相对位置。最多六个物理机器人的综合实验研究证实了系统的有效性，可靠性和鲁棒性。最后，在粗糙地形条件下对系统进行了检验
This paper addresses the cooperative transport of a heavy object by a group of mobile robots. We present a system in which group members lacking knowledge about the position of the transport target exploit physical interactions with other members of the group that have such knowledge. This is the first such system to achieve a performance superior to that of a passive caster. The system is fully decentralized and the information flow between the robots is limited to physical interactions. The robots have no knowledge about their relative positions. A comprehensive experimental study with up to six physical robots confirms the effectiveness, reliability, and robustness of the system. Finally, the system is examined in rough terrain conditions