Distributed Manipulation of Multiple Objects using Ropes

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.

Authors

• Bruce Randall Donald
• Larry Gariepy
• Daniela Rus

Keywords

• Wrapping
• Orbital robotics
• Protocols
• Distributed computing
• Mobile robots
• Computational geometry
• Robot sensing systems
• Computer science
• Numerical analysis
• Kinematics
• Local Minima
• C=O Groups
• Convex Hull
• Mobile Robot
• Real-valued Function
• Physical Experiments
• Stop Signal
• Free Variables
• Swarm Robotics
• Sequence Of Vertices