Abstract
When dealing with object manipulation, they can be too large, heavy or difficult for a single robot to grasp. Therefore, to improve the performance when these tasks are executed, multiple robotic manipulators could be considered. This paper presents a cooperative multi-robot system capable of manipulating deformable objects in a coordinated and controlled manner, making the object also acquire the desired shape and configuration in space. Additionally, strategies that avoid collision of obstacles with the transported object and the mobile robots are implemented, extending its application in dynamic and unstructured environments. The algorithm is flexible with respect to the shape of the transported object and the number of manipulator robots, making it a versatile solution capable of being applied in many different contexts depending on the needs. The PyBullet simulator visualises in real time the movement of the robots and obstacles, as well as the behaviour of the deformable object being transported.
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Acknowledgements
This work has been supported by projects REMAIN S1/1.1/E0111 (Interreg Sudoe Programme, ERDF), PID2021-124137OBI00 and TED2021-130224B-I00 funded by MCIN/AEI/10.13039/501100011033, ERDF A way of making Europe and by the European Union NextGenerationEU/PRTR and the projects DGA T45-23R and T73-23R by Gobierno de Aragón. R. Herguedas has received EU funding through the European Social Fund (ESF) “Construyendo Europa desde Aragón”.
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Valdeolmillos, A., Sagüés, C., Herguedas, R. (2024). Manipulation of Deformable Objects with a Multi-robot System. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_30
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DOI: https://doi.org/10.1007/978-3-031-58676-7_30
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