WANG Zhidong Tohoku Univ., Grad. Sch. of Infomation Sci., Res. Associate, 大学院情報科学研究科, 助手 (40272017)
OOKUBO Hiroki Tohoku Univ., Faculty of Engineering, Res. Associate, 工学部, 助手 (00250689)
MATSUKAWA Takuji Tohoku Univ., Grad. Sch. of Infomation Sci., Res. Associate, 大学院情報科学研究科, 助手 (10209520)
TAKAHASHI Takayuki Tohoku Univ., Grad. Sch. of Infomation Sci., Lecturer, 大学院情報科学研究科, 講師 (70197151)
|Budget Amount *help
¥2,200,000 (Direct Cost : ¥2,200,000)
Fiscal Year 1995 : ¥700,000 (Direct Cost : ¥700,000)
Fiscal Year 1994 : ¥1,500,000 (Direct Cost : ¥1,500,000)
In this study, a robotics system, called BeRoSH (Behevior-based Multiple Robot System with Host for Object Manipulation), incorporating a dynamic cooperation strategy, is proposed. This behavior-based dynamic cooperation strategy is realized in two steps : designing the distributed robot's cooperative behavioral attributes according to each robot's abilities, and organizing these behavioral attributes. Through the behavior design, this strategy allows the dynamic cooperation control to be distributed equally among the robots and to be loosely model dependent. Therefore, the proposed cooperation strategy is able to cope with redundancy in the number of robots performing the task easily. Then, BeRoSH has a high potential to realize a medium to large scale system for achieving some cooperative tasks. In organizing robot's abilities, the concept of Form Closure is applied as the basic strategy of this organization. In this research, a method to analyze and design each robot's behavior controller by using Finite State Automaton is also proposed.
An experimental robotics system which includes three mobile robots, a host computer, and a CCD camera is developed. Some computer simulations and experiments on the object transportation task and assembly task have been performed for validating multiple robot system design, cooperation strategy, behavior design, and some other issues we are investigating. Presently, we are involved in doing some research on manipulating an object in a three dimension environment by multiple mobile robots. Some of the issues under investigation are the cooperation strategy, sensory system, and system, hardware required for object manipulation in a 3D environment.
Some of the results of this study, including experimental results, have been presented in several conferences and symposiums.