Morpho-functional characteristics of SSA-based two-mobile-robots system carrying a long bar on wavy road

Deals with characteristics of cooperative transportation of a long bar along a wavy road by two mobile robots. The robot module has a crawler body and a single degree-of-freedom prismatic arm. The task is to carry a long bar at constant support height and support distance along a one-dimensional sinusoidal wavy road. Their position and arm length are cooperatively adjusted by a subsumption architecture (SSA) control scheme according to their position on the wavy road. The SSA control scheme showed a successful achievement of the given task in most cases but the two robots were trapped in an inevitable deadlock situation for a particular initial position. Addition of one rotational degree-of-freedom to the arm can solve the deadlock problem. Finally the paper discusses some fundamental issues about the relationship between robot-body configuration/morphology, kinematics/dynamics, and intelligence from the results obtained.

[1]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[2]  Aiguo Ming,et al.  Cooperative Operation of Two Mobile Robots , 1996 .

[3]  Tsuneo Yoshikawa,et al.  Deciding grasping positions and regrasping action by cooperating multiple mobile robots , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[4]  Martin Nilsson,et al.  Cooperative multi-robot box-pushing , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[5]  Jun Ota,et al.  Optimal arrangement for handling unknown objects by cooperative mobile robots , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[6]  Yasumichi Aiyama,et al.  Cooperative transport with regrasping of torque-limited mobile robots , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[7]  Kazuhiro Kosuge,et al.  Decentralized control of multiple robots handling an object , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[8]  Jun Ota,et al.  Let us work together-task planning of multiple mobile robots , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[9]  Majid Nili Ahmadabadi,et al.  A cooperation strategy for a group of object lifting robots , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[10]  Hong Zhang,et al.  The use of perceptual cues in multi-robot box-pushing , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[11]  F. Hara,et al.  A kinematic analysis of locomotive cooperation for two mobile robots along a general wavy road , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[12]  Makoto Kajitani,et al.  Basic Study of Cooperative Motion of Mobile Robots , 1990, J. Robotics Mechatronics.

[13]  Jun Ota,et al.  Cooperative transport system with regrasping car-like mobile robots , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[14]  Jun Ota,et al.  Estimating the center of gravity of an object using tilting by multiple mobile robots , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[15]  Fumio Hara,et al.  A Kinematic Analysis of Cooperation for Two Mobile Robots along a Wavy Road. , 1994 .