JRM Vol.35 No.4 pp. 938-947
doi: 10.20965/jrm.2023.p0938


Effect of Robotic Pile-Up Mechanism on Cooperative Transportation for Versatile Objects

Yuichiro Sueoka ORCID Icon, Wei Jie Yong, Naoto Takebe, Yasuhiro Sugimoto ORCID Icon, and Koichi Osuka ORCID Icon

Department of Mechanical Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

February 20, 2023
June 15, 2023
August 20, 2023
robotic pile-up mechanism, cooperative unstable object transportation, swarm robotic system

In recent years, cooperative transportation systems using multiple mobile robots have been studied. The advantage will be to transport objects that cannot be dealt with by a single robot and transport them by using smaller robots. Although cooperative transportation by a group of robots has been studied, the conventional transportation targets are limited to objects whose posture is stable. In this paper, we propose a system in which robots pile up on each other to support an object, aiming at a system for more versatile object transportation, including unstable objects. After deriving the conditions by modeling the support system in object transportation, we verify the transporting performance including the robotic pile-up effect through actual robot experiments.

Proposed robots with a pile-up mechanism

Proposed robots with a pile-up mechanism

Cite this article as:
Y. Sueoka, W. Yong, N. Takebe, Y. Sugimoto, and K. Osuka, “Effect of Robotic Pile-Up Mechanism on Cooperative Transportation for Versatile Objects,” J. Robot. Mechatron., Vol.35 No.4, pp. 938-947, 2023.
Data files:
  1. [1] E. Şahin, “Swarm robotics: From sources of inspiration to domains of application,” Int. Workshop on Swarm Robotics, pp. 10-20, 2004.
  2. [2] M. Rubenstein, A. Cornejo, and R. Nagpal, “Programmable self-assembly in a thousand-robot swarm,” Science, Vol.345, No.6198, pp. 795-799, 2014.
  3. [3] J. Werfel, K. Peterson, and R. Nagpal, “Designing Collective Behavior in a Termite-Inspired Robot Construction Team,” Science, Vol.343, No.6172, pp. 754-758, 2014.
  4. [4] L. Bayindir, “A review of swarm robotics tasks,” Neurocomputing, Vol.172, pp. 292-321, 2016.
  5. [5] T. Arai, E. Pagello, and L. E. Parker, “Guest editorial advances in multirobot systems,” IEEE Trans. on Robotics and Automation, Vol.18, No.5, pp. 655-661, 2002.
  6. [6] Y. Kantaros, M. Thanou, and A. Tzes, “Distributed coverage control for concave areas by a heterogeneous robot-swarm with visibility sensing constraints,” Automatica, Vol.53, pp. 195-207, 2015.
  7. [7] K. Sakurama, S. Azuma, and T. Sugie, “Multiagent Coordination Via Distributed Pattern Matching,” IEEE Trans. on Automatic Control, Vol.64, No.8, pp. 3210-3225, 2019.
  8. [8] K. Sakurama, “Unified Formulation of Multiagent Coordination With Relative Measurements,” IEEE Trans. on Automatic Control, Vol.66, No.9, pp. 4101-4116, 2021.
  9. [9] D. Saldana, R. J. Alitappeh, L. C. A. Pimenta, and R. Assuncao, “Dynamic perimeter surveillance with a team of robots,” Proc. IEEE Int. Conf. Robot. Autom., pp. 5289-5294, 2016.
  10. [10] E. Tuci, M. H. Alkilabi, and O. Akanyeti, “Cooperative object transport in multi-robot systems: A review of the state-of- the-art,” Front. Robot. AI, Vol.5, No.59, 2018.
  11. [11] J. Sasaki, J. Ota, E. Yoshida, D. Kurabayashi, and T. Arai, “Cooperating grasping of a large object by multiple mobile robots,” Proc. of 1995 IEEE Int. Conf. on Robotics and Automation, Vol.1, pp. 1205-1210, 1995.
  12. [12] K. Kosuge and T. Oosumi, “Decentralized control of multiple robots handling an object,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 318-323, 1996.
  13. [13] Z. Wang and M. Schwager, “Kinematic multi-robot manipulation with no communication using force feedback,” 2016 IEEE Int. Conf. on Robotics and Automation, pp. 427-432, 2016.
  14. [14] M. Dorigo, “SWARM-BOT: an experiment in swarm robotics,” Proc. of 2005 IEEE Swarm Intelligence Symposium, pp. 192-200, 2005.
  15. [15] C. Kube and H. Zhang, “Collective Robotics: From Social Insects to Robots,” Adaptive Behavior, Vol.2, No.2, pp. 189-219, 1994.
  16. [16] M. J. Mataric, M. Nilsson, and K. T. Simsarin, “Cooperative multi-robot box-pushing,” Proc. of 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, pp. 556-561, 1995.
  17. [17] J. Chen, M. Gauci, W. Li, A. Kolling, and R. Groß, “Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots,” IEEE Trans. on Robotics, Vol.31, No.2, pp. 307-321, 2015.
  18. [18] R. Fujisawa, S. Dobata, K. Sugawara, and F. Matsuno, “Designing pheromone communication in swarm robotics: Group foraging behavior mediated by chemical substance,” Swarm Intelligence, Vol.8, No.3, pp. 227-246, 2014.
  19. [19] Z.-D. Wang, Y. Takano, Y. Hirata, and K. Kosuge, “A pushing leader based decentralized control method for cooperative object transportation,” Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1035-1040, 2004.
  20. [20] J. Spletzer, A. K. Das, R. Fierro, C. J. Taylor, V. Kumar, and J. P. Ostrowski, “Cooperative localization and control for multi-robot manipulation,” Proc. of 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 631-636, 2001.
  21. [21] G. A. S. Pereira, M. F. M. Campos, and V. Kumar, “Decentralized Algorithms for Multi-Robot Manipulation via Caging,” The Int. J. of Robotics Research, Vol.23, No.7-8, pp. 783-795, 2004.
  22. [22] Y. Ishiyama, “Motions of rigid bodies and criteria for overturning by earthquake excitations,” Earthquake Engineering and Structural Dynamics, Vol.10, pp. 635-650, 1982.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 12, 2024