ICRA Conference 2000 Conference Paper
Distributed Manipulation of Multiple Objects using Ropes
- Bruce Randall Donald
- Larry Gariepy
- Daniela Rus
This paper describes a system in which multiple robots cooperate to move multiple objects such as groups of boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tying ropes around objects, effecting rotations using a flossing manipulation gait, and effecting translations using a ratcheting manipulation gait. We present algorithms for these operations, a numerical analysis for the motion of groups of boxes, and experimental results.