We describe a framework for coordinating multiple robots in cooperative manipulation tasks in which vision is used for establishing relative position and orientation and maintaining formation. The two key contributions are a cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization, and a set of control algorithms that allow the rob...

This paper presents a virtual manipulation environment dealing with elastic objects. An original fast computation elastic model ‘the gradational resolution model’ is introduced for real-time interaction, in which the number of elastic elements are efficiently reduced for acceleration. Joystick force feedback is used for sensible interaction. Two kinds of collision algorithms are examined by joy...

In this paper we propose a method that multiple mobile robots use tools to accomplish tasks. To give an actual example, the robots can push and manipulate objects by means of a stick and can pull objects by means of string. We classify tools in view of their characteristic and the robots make use of characteristics of tools to accomplish tasks easily and efficiently. We adopt sticks and strings...

Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spheri...

This work explores a hierarchical approach for “natural” cooperative manipulation. Although the concepts apply to all manipulator systems (including tele-operated systems), the scope of this investigation is limited to specially designed hand held surgical robots. By “natural” we mean a high degree of transparency in operation of the device. Hand held robots are usually controlled in compliance...

This paper compares two “steady-hand” type systems. The first is an admittance-controlled, non-backdriveable cooperative manipulation system, in which the robot and the operator simultaneously grasp and manipulate a tool. The second is a pair of haptic interfaces configured for unilateral teleoperation. A recently developed pseudoadmittance control law is applied to the master device, which att...

The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance...