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Abstract
In this paper we present a new, affordable, omnidirectional robot platform which is suitable for research and education in cooperative robotics. We design and implement the platform for the purpose of multi-agent object manipulation and transportation. The design consists of three omnidirectional wheels with two additional traction wheels, making multirobot object manipulation possible. It is validated by performing simple experiments using a setup with one robot and one target object. The execution flow of a simple task (Approach–Press–Lift–Hold–Set) is studied. In addition, we experiment to find the limits of the applied pressure and object orientation under certain conditions. The experiments demonstrate the significance of our inexpensive platform for research and education by proving its feasibility of use in topics such as collaborative robotics, physical interaction, and mobile manipulation.
Highlights
Designing multi-robot systems has captured the attention of many researchers/industries due to its scalability and various applications
The authors in [4] explore a decentralized sliding mode control strategy to move a load along a straight line at a desired velocity
The design is based on an omnidirectional mobile platform consisting of: three omnidirectional wheels attached to servo motors DYNAMIXEL AX-12A (4), one uEye XS
Summary
Designing multi-robot systems has captured the attention of many researchers/industries due to its scalability and various applications. In [14,15] the authors present interesting low-cost designs for multi-robot manipulators While those robots are a good fit for research and education, they have drawbacks, such as a two-wheel drive system and having to modify the target object for grasping. We implement an improved version using real hardware and we validate the design in a one-robot scenario with the aim of illustrating the use of the robot platform for research and education in cooperative robotics and manipulation. We believe that it presents a more simplified and affordable approach to multi-robot load sharing and transportation compared to other state-of-the-art approaches. The paper concludes with a discussion and conclusions, including future work
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