2001 Fiscal Year Final Research Report Summary
Cooperative Manipulation system for Emergency Response by Multiple Mobile Robots with Tllos
| Project/Area Number |
12650243
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Tokyo |
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Principal Investigator |
ARAI Tamio Graduate School of Engineering, The University of Tokyo, Professor, 大学院・工学系研究科, 教授 (40111463)
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| Co-Investigator(Kenkyū-buntansha) |
MAEDA Yusuke Graduate School of Engineering, The University of Tokyo, Assistant, 大学院・工学系研究科, 助手 (50313036)
OTA Jun Graduate School of Engineering, The University of Tokyo, Assistant Professor, 大学院・工学系研究科, 助教授 (50233127)
YUASA Hideo Graduate School of Engineering, The University of Tokyo, Assistant Professor, 大学院・工学系研究科, 助教授 (10191470)
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| Project Period (FY) |
2000 – 2001
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| Keywords | Mobile Robots / Tool / Cooperation / Emergency Response / Monipulation / Motion Planning / Motion Error / Sensorless Manipulation |
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| Research Abstract |
In this research, we investigated cooperative transport system by multiple mobile robots with tools in complicated rivironment such as stricken areas. We developed the following : 1) mobile robot system for transportation with tools, 2) global motion planner for multiple robots, and 3) local manipulation planner for cooperation of multiple robots. All the techniques were integrated into a prototype real robot system. The real robot system sonsists of omni-directional mobile robots, "ZEN," developed by RIKEN. The robots use a bar as a "tool" cooperatively to manipulate a large object, which is much bigger than the size of each robot. Each robot can Iocalize itself with its camera by observing artifical landmarks.
We tested our motion planner for transportation of a large object by two mobile robots in a complicated environment with narrow passages. In this test, the planner generated cooperative manipulation with the bar successfully. The fact indicates the validity of our approach, in which we divide the total motion planning of the system into global motion planning and local manipukation planning. We also verified that the prototype real robot system could handle large objects.
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Research Products
(8 results)
