RIA: Coordination of Mobile Manipulators

本研究探讨多移动机械手在抓取和搬运大型不规则形状物体时的协调问题。本文研究的移动机械手由移动平台和抓取机械手组成。没有特殊特征(如手柄)的大物体不容易被传统的末端执行器(如下巴抓取器或多指手)抓住。提出了一种基于多移动机械手包络抓取和操作的新方法。这项研究的主要贡献将是移动机械手在运动受限的情况下协调运动和操作的控制算法，以及两个移动机械手运输大型物体的协调控制算法。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. //