Tight cooperative working system by multiple robots

T. Fujita, H. Kimura
Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)  
The purpose of this study is to realize a Multiple Robots System which can be e asily developed and managed. In order to perform robust cooperative work, it is necessary that multiple robots can achieve not only a high level of cooperation without communication but also simple cooperation with communication, and then switch between modes according to the situation. We call such cooperative work \Tight Cooperation". To achieve such cooperation, there must be an integrated concept in the system
more » ... ept in the system about structure in a robot and whole system. In this paper, we propose a method for the construction of such a multiple robots system based on this concept. We constructed a c ooperative working system called ICRoS and implemented it on two hexapod robots with parallel processors. We veried the eectiveness of this multiple robots system with four dierent experiments involving the cooperative lifting of a box.
doi:10.1109/iros.1998.724784 dblp:conf/iros/FujitaK98 fatcat:qb27abmqivdzvcaxq3d2zjpvmm