Precision Manipulation with Cooperative Robots

We present a cooperative approach to robotic precision manipulation tasks in the context of autonomous robotic construction. Precision manipulation requires a firm grasp, which constraints the team to rigidly maintain formation during transport and manipulation. A leader/follower approach with force sensing to provide relative formation information and vision to provide team position relative to construction components is applied. Our approach demonstrates successful, reliable performance of a construction task requiring cooperative transport and placement of structure components. Qualitative and quantitative performance results are provided.

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