Zhi Dong Wang

Learn More
We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of object closure, a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. In this paper, we develop a distributed testing(More)
We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. In contrast to Form or Force Closure, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance.(More)
This paper proposes a new control approach for an active (motorized) robotic walking support system based on passive behavior concept. The control approach aims to enhance the interaction between the support system and the user. The passive behavior of a support system allows the user to safely interact with the system since it removes the system's(More)
This paper addresses the function distribution and behavior design problem for a multirobot system which incorporates a behavior-based dynamic cooperation strategy for object handling. The proposed multiple robot system is composed of a managing robot and homogeneous behavior-based robots. The cooperation strategy in this system is realized in two steps:(More)
We propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric(More)
This paper presents an approach in assisting a sit-to-stand movement using a robotic walking support system. In general, robotic walking support system is used to provide walking stability. We will extend its function to assist a user in executing a sit-to-stand movement. The first approach would be called passive support. In this approach, the support(More)