This paper proposes a formation-finding procedure for the non-prehensile transportation of arbitrarily-shaped polygonal objects with differentially-driven mobile robots. The proposed procedure is conceptually novel by taking a multibody system dynamics perspective, explicitly taking into account the robots’ non-holonomic constraints. Being based on proper first principles such as Jourdain’s principle, if the modeling assumptions are met, the approach nominally guarantees to only produce formations that are actually useful to manipulate the object in a given dynamic situation. As a byproduct, the scheme can directly provide a set of robot propulsion forces fitting the desired object motion. Simulation results confirm the chosen formations’ favorable qualities.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Finding Formations for the Non-prehensile Object Transportation with Differentially-Driven Mobile Robots


    Additional title:

    CISM Courses and Lectures



    Conference:

    Symposium on Robot Design, Dynamics and Control ; 2022 ; Udine, Italy July 04, 2022 - July 07, 2022



    Publication date :

    2022-06-23


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Dynamic non-prehensile object transportation

    Lertkultanon, Puttichai / Pham, Quang-Cuong | IEEE | 2014



    Prehensile Foot Restraint

    Willits, Charles A. | NTRS | 1987


    Support device for a pneumatic prehensile member

    CHIARINI PIERLUIGI / LEVI FABIO | European Patent Office | 2020

    Free access