We present a cooperative approach to robotic precision manipulation tasks in the context of autonomous robotic construction. Precision manipulation requires a firm grasp, which constraints the team to rigidly maintain formation during transport and manipulation. A leader/follower approach with force sensing to provide relative formation information and vision to provide team position relative to construction components is applied. Our approach demonstrates successful, reliable performance of a construction task requiring cooperative transport and placement of structure components. Qualitative and quantitative performance results are provided. © 2005 Springer.
CITATION STYLE
Stroupe, A., Huntsberger, T., Okon, A., & Aghazarian, H. (2005). Precision manipulation with cooperative robots. In Multi-Robot Systems. From Swarms to Intelligent Automata - Proceedings from the 2005 International Workshop on Multi-Robot Systems (Vol. 3, pp. 235–248). Kluwer Academic Publishers. https://doi.org/10.1007/1-4020-3389-3_19
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