Abstract
In this paper, we studied 2D caging manipulation by robots and walls in a real environment. Manipulation of a circular object was successfully performed by two or three circular mobile robots controlled with a camera. However, caging manipulation failed in some cases due to jamming. This problem can be solved partially by reducing friction, but further investigation is necessary.
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More From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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