Cooperative transport of extended payloads
Bouloubasis, A. K. and McKee, G. T. (2005) Cooperative transport of extended payloads. In: 2005 12th International Conference on Advanced Robotics. Ieee, New York, pp. 882-887. ISBN 0780391772
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In this paper we present experimental results for the dual robot transport of an extended payload. Two robotic rovers that were designed specifically for the extended payload transport task are described. Each rover incorporates a 4-DOF robot arm incorporating three active joints (one of which is a gripper), a passive wrist, and a mobile base which employs a rocker-bogie design. A set of behaviours has been developed to support the performance of the task, integrating simple sensing with controls. We describe the behaviours and their integration within the overall task structure. The experimental results presented focus on the manipulation elements of the task, but incorporate a complete cycle of pick-up, traversal, and putdown.