Abstract
In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
