Forward Kinematics of Object Transporting by a Multi-Robot System With a Deformable Sheet

We present a forward kinematics method for object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible positions of the object on...

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Veröffentlicht in:	IEEE robotics and automation letters 2024-04, Vol.9 (4), p.3459-3466
Hauptverfasser:	Hu, Jiawei, Liu, Wenhang, Yi, Jingang, Xiong, Zhenhua
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Cables Computational modeling Deformable models deformable sheet Deformation Exact solutions Formability forward kinematics Geometric constraints Kinematics Mobile robots multi-robot system Multi-robot systems Multiple robots Object detection Object handling and transporting Potential energy Robot kinematics Robots
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