Tight cooperative working system by multiple robots
نویسندگان
چکیده
The purpose of this study is to realize a Multiple Robots System which can be easily developed and managed. In order to perform robust cooperative work, it is necessary that multiple robots can achieve not only a high level of cooperation without communication but also simple cooperation with communication, and then switch between modes according to the situation. We call such cooperative work \Tight Cooperation". To achieve such cooperation, there must be an integrated concept in the system about structure in a robot and whole system. In this paper, we propose a method for the construction of such a multiple robots system based on this concept. We constructed a cooperative working system called ICRoS and implemented it on two hexapod robots with parallel processors. We veri ed the e ectiveness of this multiple robots system with four di erent experiments involving the cooperative lifting
منابع مشابه
Implementation of Integrated Cooperative Robots System for Tight Cooperation
The purpose of this research is to realize a multiple robots system which can be easily developed and managed. In order to perform robust cooperative work, it is necessary that multiple robots can achieve not only a high level of cooperation without communication but also simple cooperation with communication, and then switch between modes according to the situation. We define such kind of coop...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملCooperative Distributed Vision for Mobile Robots
Multiple robot systems in which every robot is equipped with a vision sensor are more and more frequent. Most of these systems simply distribute the sensors in the environment, but they do not create a real Cooperative Distributed Vision System. Distributed Vision System has been studied in the past, but not enough emphasis has been posed on mobile robots. In this paper we propose an approach t...
متن کاملCooperation between Omnidirectional Vision Agents and Perspective Vision Agents for Mobile Robots
Multiple robot systems in which every robot is equipped with a vision sensor are more and more frequent. Most of these systems simply distribute the sensors in the environment, but they do not create a real Cooperative Distributed Vision System. In this paper we propose an approach to realize a Cooperative Distributed Vision System within a team of heterogeneous mobile robots. We present two re...
متن کاملCooperative Control of Mobile Robots in Creating a Runway Platform for Quadrotor Landing
Multi-agent systems are systems in which several agents accomplish a mission in a cooperative manner. In this paper, a novel idea for the construction of a movable runway platform based on multi-agent systems is presented. It is assumed that an aerial agent (quadrotor) decides to make an emergency landing due to reasons such as a decrease in energy level or technical failure, while there is no ...
متن کامل