Local motion planning for collaborative multi-robot manipulation of deformable objects
Javier Alonso-Mora, Ross Knepper, Roland Siegwart, Daniela Rus
Abstract
This paper presents a formalism that exploits deformability during manipulation of soft objects by robot teams. A hybrid centralized/distributed approach restricts centralized planning to high-level global guidance of the object for consensus. Low-level control is thus delegated to the individual manipulator robots, which retain manipulation and collision avoidance guarantees by passing forces to one another through the object. A distributed receding horizon planner provides local control, formulated as a convex optimization problem in velocity space and incorporating constraints for both collision avoidance and shape maintenance. We demonstrate teams of mobile manipulators autonomously carrying various deformable objects.
BibTeX
@inproceedings{icra2015_localmotionplann,
title = {Local motion planning for collaborative multi-robot manipulation of deformable objects},
author = {Javier Alonso-Mora and Ross Knepper and Roland Siegwart and Daniela Rus},
booktitle = {ICRA 2015},
year = {2015}
}