In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial r...

This paper proposes a methodology that uses hybrid systems to model multiple robots in the execution of cooperative tasks. Basically, each robot is represented by a hybrid automaton and the cooperative task execution is modeled by the composition of several automata. We describe in details our approach to perform the composition of these automata and demonstrate the effectiveness of the propose...

We propose a semi-autonomous teleoperation framework, developed in (Lee & Spong 2005), as a means for robotic missions to establish infrastructure and preparations for the sustained presence of humans on the Moon. This semiautonomous framework consists of the two control loops: 1) local autonomous control and interagent communication on the Moon ensure secure cooperative manipulation of objects...

The major purpose of this thesis is to discuss the various problems of the gra.sping and manipulation by robotic multifingered hands and arm-hand systems. This thesis consists of two parts. In the first part of Chapters 2 through 4, dliscussions are made on gra.sping and manipulation by multifingered hands. In the second part of Chapters 5 and 6, cooperative manipulations with grasping by macro...

Nature’s self-organizing teams have long inspired engineering researchers. Imitating birds and fish, researchers built swarms that could keep formation via elegant decentralized control algorithms. Inspired by ants, they applied formation keeping to carrying loads as a mobile robot team. In this work, we further specialize this collaborative manipulation to manipulating teammates, thereby creat...