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This paper addresses the general problem of controlling a large number of robots required to move as a group. We propose an abstraction based on the definition of a map from the configuration space Q of the robots to a lower dimensional manifold A, whose dimension is independent of the number of robots. In this paper, we focus on planar fully actuated(More)
Multiple arm systems, multifingered grippers, and walking vehicles all have two common features. In each case, more than one actively coordinated articulation interacts with a passive object, thus forming one or more closed chains. For example, when two arms grasp an object simultaneously, the arms together with the object and the ground (base) form a(More)
The work described in this paper addresses the problem of determination of the appropriate distribution of forces between the fingers of a multifingered gripper grasping an object. The system is statically indeterminate and an optimal solution for this problem is desired for force control. A fast and efficient sub-optimal method for computing the grasping(More)
The problem of force distribution in systems involving multiple frictional contacts between actively coordinated mechanisms and passive objects is examined. The special case in which the contact interaction can he modeled by three components of forces (zero moments) is particularly interesting. The Moore-Penrose Generalized Inverse solution for such a model(More)
—This paper develops a method for generating smooth trajectories for a moving rigid body with specified boundary conditions. Our method involves two key steps: 1) the generation of optimal trajectories in + (), a subgroup of the affine group in IR and 2) the projection of the trajectories onto (3), the Lie group of rigid body displacements. The overall(More)
The instantaneous kinematics of a hybrid manipulation system, which combines the traditional serial chain geometry with parallelism in actuation, and the problem of coordination is discussed. The indeterminacy and singularities in the inverse kinematics and statics equations and measures of kinematic performance are analyzed. Finally, coordination(More)
The goal of the paper is to outline a multiagent robotic system employed in the task of material handling in an unstructured, indoor environment. In the research described, manipulators, observers, vehicles, sensors, and human operators are considered to be agents. Alternatively, an agent can be a general-purpose agent. Mobility is considered to be(More)
In complex robotic systems, the problem of distributing the load wrench between multiple subsystems is often under specified. Examples of such systems include walking machines, multifingered grippers and multiarm manipulators. In each case, the subsystems are actively controlled limbs (legs, fingers or arms) which are in direct contact with a passive(More)