Abstract—We describe a framework for controlling and coordinating a group of nonholonomic mobile robots for cooperative tasks ranging from scouting and reconnaissance to distributed manipulation. The framework allows us to build complex systems from simple controllers and estimators. This modular approach is attractive because of the potential for reusability. In addition, we show that our appr...

Abstract Individual manipulators are limited by their vertical total load capacity. This places a fundamental limit on the weight of loads that single manipulator can move. Cooperative manipulation with two arms has potential to increase net capacity overall system. However, it is critical proper sharing takes place between arms. In this work, we outline method utilizes mechanical intelligence ...

We report on applications of an augmentation system for cooperative fine manipulation using the steady hand manipulation paradigm. Using the “steady hand” robot as the experimental platform we investigate using such a system for creating composite retinal images using a GRIN lens endoscope and for puncturing small blood vessels in the retina.

This paper presents a system developed with off-the shelf components which will be used to study humanrobot cooperative tasks from tele-manipulation to supervisory control. The approach enables the design to be modular and flexible, thus presenting an upgradable laboratory and test bed for prototyping autonomy-enhanced and supervised-control activities for Space-Analogue Mobile Manipulation.

In this paper, we present a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environ...

In this paper, we present a mechanism for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the enviro...