Coordination and decentralized cooperation of multiple mobile manipulators

Journal of Robotic Systems

Volumn 13, Issue 11, 1996, Pages 755-764

  Khatib, O ^a   Yokoi, K ^a   Chang, K ^a   Ruspini, D ^a   Holmberg, R ^a   Casal, A ^a  

^a Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DECENTRALIZED CONTROL; FORCE CONTROL; MANIPULATORS; MATHEMATICAL MODELS; MOBILE ROBOTS; MOTION CONTROL; NUMERICAL METHODS; ROBOTIC ARMS;

AUGMENTED OBJECT MODEL; DEXTROUS DYNAMIC COORDINATION; MULTIPLE MOBILE MANIPULATION SYSTEMS; OPERATIONAL SPACE FORMULATION; VIRTUAL LINKAGE MODEL;

ROBOTICS;

EID: 0030282852     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199611)13:11<755::AID-ROB6>3.0.CO;2-U     Document Type: Article

References (17)

1. M. Ullman, and R. Cannon, "Experiments in global navigation and control of a free-flying space robot," Winter Annu. Meet. Am. Soc. Mech., 1989, Vol. 15, pp. 37-43.
2. Y. Umetani, and K. Yoshida, "Experimental study on two-dimensional free-flying robot satellite model," Proc. NASA Conf., Space Telerobotics, 1989.
3. E. Papadopoulos and S. Dubowsky, "Coordinated manipulator/spacecraft motion control for space robotic systems," Proc. IEEE Int. Conf. Rob. Autom., 1991, pp. 1696-1701.
4. J. Russakow and O. Khatib, "A new control structure for free-flying space robots," Int. Symp. Artif. Intell. Rob. Autom. Space, 1992, pp. 395-403.
5. O. Khatib, "A unified approach to motion and force control of robot manipulators: The operational space formulation," IEEE J. Rob. Autom., 3(1), 43-53, 1987.
6. O. Khatib, "Inertial properties in robotics manipulation: An object-level framework," Int. J. Rob. Res., 14(1), 19-36, 1995.
7. Y. F. Zheng and J. Y. S. Luh, "Joint torques for control of two coordinated moving robots," Proc. IEEE Int. Conf. Rob. Autom., 1986, pp. 1375-1380.
8. M. Uchiyama and P. Dauchez, "A symmetric hybrid position/force control scheme for the coordination of two robots," Proc. IEEE Int. Conf. Rob. Autom., 1988, pp. 350-356.
9. S. Hayati, "Hybrid position/force control of multi-arm cooperating robots," Proc. IEEE Int. Conf. Rob. Autom., 1986. pp. 1375-1380.
10. T. J. Tarn, A. K. Bejczy, and X. Yun, "Design of dynamic control of two cooperating robot arms: Closed chain formulation," Proc. IEEE Int. Conf. Rob. Autom, 1987, pp. 7-13.
11. J. A. Adams, et al., "Cooperative material handling by human and robotic agents: Module development and system synthesis," Proc. IROS, 1995, pp. 200-205.
12. O. Khatib, "Object manipulation in a multi-effector robot system," Robotics Research 4, R. Bolles and B. Roth, eds., MIT Press, Cambridge, MA, 1988, pp. 137-144.
13. D. Williams and O. Khatib, "The virtual linkage: A model for internal forces in multi-grasp manipulation," Proc. IEEE Int. Conf. Rob. Autom., 1993, pp. 1025-1030.
14. D. Williams and O. Khatib, "Multi-grasp manipulation," IEEE ICRA Video Proc., 1995.
15. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," Int. J. Rob. Res., 5(1), 90-98, 1986.
16. F. G. Pin and S. M. Killough, "A new family of omnidirectional and holonomic wheeled platforms for mobile robots," IEEE Trans. Rob. Autom., 10(4), 480-489, 1994.
17. O. Khatib, et al., "The robotic assistant," IEEE ICRA Video Proc., 1996.