RIA: Coordination of Mobile Manipulators

这项研究研究了多个移动机械手的协调，以抓取和运输大型和不规则形状的物体。 本研究中考虑的移动机械手由用于运动的移动平台和用于抓取和操纵的机械手组成。 没有手柄等特殊功能的大型物体无法轻易地被传统的末端执行器（例如夹爪或多指手）抓取。 提出了一种基于多个移动机械手的包络抓取和操纵概念的新方法。 该研究的主要贡献将是协调移动机械手的运动和操纵的控制算法，其中机械手的运动受到限制，以及协调两个移动机械手运输大型物体。 将开发一个实验系统来测试和评估所提出的协调算法。 //

This research investigates coordination of multiple mobile manipulators for grasping and transporting large and irregularly shaped objects. A mobile manipulator considered in this study is composed of a mobile platform for locomotion and a manipulator for grasping and manipulation. A large object without special features such as handles cannot easily be grasped by the conventional end effectors such as jaw grippers or multifingered hands. A new approach based on the concept of enveloping grasp and manipulation by multiple mobile manipulators is proposed. The major contribution of the proposed study will be control algorithms for coordination of locomotion and manipulation of a mobile manipulator with the motion of the manipulator being constrained, and coordination of two mobile manipulators for transporting large objects. An experimental system will be developed to test and evaluate the proposed coordination algorithms. //