Abstract
This paper presents a compliant linkage as a standalone module that allows a mobile multi-robot system to transport objects cooperatively without explicit communication. The module is compatible with arbitrary steering kinematics and supports the cooperation among heterogeneous robots. All the required sensors and processing units are fully integrated into the module. The sensors are able to perceive robots’ movements in three-dimensional space and enable them to drive on ramps with an inclination of at least 15%. In addition to the sensory capabilities, the linkage is able to compensate emerging undesired forces and simultaneously adds an extra degree of freedom to the system increasing its overall manoeuvrability. The experimental results illustrate the validity of the proposed linkage.
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Ramos, J.M.T., Doshi, D., Schütz, D., Dietrich, F. (2021). A Compliant Linkage for Cooperative Object Manipulation Through a Heterogeneous Mobile Multi-robot System. In: Lenarčič, J., Siciliano, B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-030-50975-0_5
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