Modular Cooperative Mobile Robots for Ventral Long Payload Transport and Obstacle Crossing

Conference Paper

• الوسوم: Cooperative Mobile Robots, Long Payload Ventral Transportation Mode, Obstacle Crossing.
• اسم المؤتمر: 5th European Conference on Mechanism Science
• عنوان المؤتمر: Guimarães, Portugal
• تاريخ المؤتمر: الثلاثاء, أيلول (سبتمبر) 16, 2014
• المنظمة الراعية: International Federation for the Promotion of Mechanism and Machine Science

مستخلص المنشور

In this paper, a new architecture for cooperative all-terrain mobile robots is introduced. It consists in a poly-robot system called C3Bots AT/VLP robot. It is formed by the association of two or more identical  mono-robots with simple kinematics that makes a poly-robot system while using the payload as a connecting frame. The mono-robots are able to co-manipulate long objects whatever their length and mass and to transport them in unstructured  environments. Each monorobot has a manipulator with up to four degrees of freedom that can catch the payload on the ground and lift it for a ventral transportation mode. The paper presents several kinematics and an obstacle crossing process in eighteen stages that guarantee permanent stability of the poly-robot thanks to motions of the mono-robots with respect to the payload.