This paper describes our experiments with a distributed manipulation system. We study a system in which multiple robots cooperate to move large objects such as furniture and boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting translations using a flossing manipulation gait, and affecting rotations using a ratcheting manipulation gait. We present experimental data and discuss the non-holonomic nature of this system.


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    Title :

    Experiments in constrained prehensile manipulation: Distributed manipulation with ropes


    Additional title:

    Lect Notes Control Inf Sci


    Contributors:


    Publication date :

    2008-04-30


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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