Bound to help: cooperative manipulation of objects via compliant, unactuated tails

@article{Kim2018BoundTH,
  title={Bound to help: cooperative manipulation of objects via compliant, unactuated tails},
  author={Young-Ho Kim and Dylan A. Shell},
  journal={Autonomous Robots},
  year={2018},
  volume={42},
  pages={1563-1582}
}
We examine the problem of moving multiple objects to goal locations by a coordinated team of mobile robots. Each robot is equipped with an unactuated, compliant chain attached as an appendage that we call its tail. Each of our robots tow objects by wrapping their tail around an item, securing it by hooking the end of the tail back onto itself, and then dragging. In addition to towing individually, any two robots wishing to operate within a tightly-knit sub-team are able to link the ends of… 
1 Citations
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