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

Paper:

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

Received:
February 20, 2023
Accepted:
June 15, 2023
Published:
August 20, 2023
Keywords:
robotic pile-up mechanism, cooperative unstable object transportation, swarm robotic system
Abstract

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:
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