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Proceedings Paper

Cooperative control of multiple robots to manipulate objects
Author(s): Susanna Leveroni; J. Kenneth Salisbury
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Paper Abstract

This paper addresses the problem of using multiple robots together as a hand to reorient objects in the plane. A planner is described which generates a sequence of intermediate object motions and robot grasps, called a grasp gait, sufficient to achieve a final desired object orientation. These gaits are implemented using 3 phantom haptic interfaces, modified to act as robot fingers. The core control structure of the implementation is presented. Finger force and position errors, as well as object position errors, are discussed, and additional control algorithms are developed to correct for these errors. These gaits are demonstrated to be robust to small disturbances using the additional control algorithms.

Paper Details

Date Published: 30 October 1996
PDF: 9 pages
Proc. SPIE 2905, Sensor Fusion and Distributed Robotic Agents, (30 October 1996); doi: 10.1117/12.256319
Show Author Affiliations
Susanna Leveroni, Massachusetts Institute of Technology (United States)
J. Kenneth Salisbury, Massachusetts Institute of Technology (United States)


Published in SPIE Proceedings Vol. 2905:
Sensor Fusion and Distributed Robotic Agents
Paul S. Schenker; Gerard T. McKee, Editor(s)

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