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Experiments in constrained prehensile manipulation: Distributed manipulation with ropes

  • Chapter 2 Manipulation
  • Conference paper
  • First Online:
Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

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Abstract

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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Author information

Authors and Affiliations

  1. Dartmouth

    Bruce Donald, Larry Gariepy & Daniela Rus

  2. Hanover, NH, USA

    Bruce Donald & Daniela Rus

Authors
  1. Bruce Donald
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  2. Larry Gariepy
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  3. Daniela Rus
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Corresponding authors

Correspondence to Bruce Donald , Larry Gariepy or Daniela Rus .

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© 2000 Springer-Verlag London Limited

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Donald, B., Gariepy, L., Rus, D. (2000). Experiments in constrained prehensile manipulation: Distributed manipulation with ropes. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119382

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  • DOI: https://doi.org/10.1007/BFb0119382

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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