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Object Transportation by Two Mobile Robots with Hand Carts.

Takuya Sakuyama1, Jorge David Figueroa Heredia1, Taiki Ogata1

  • 1Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan.

International Scholarly Research Notices
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Summary
This summary is machine-generated.

This study introduces a new method for mobile robots to transport large objects using hand carts, reducing robot requirements by up to 60%. The approach ensures stable object loading even with real-world sensing and movement errors.

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Operations Research

Background:

  • Transporting large objects with mobile robots presents challenges in stable loading and precise control.
  • Existing methods may require a higher number of robots, increasing operational costs.

Purpose of the Study:

  • To develop a methodology for two small mobile robots to collaboratively grasp, lift, and transport large objects using hand carts.
  • To address the problems of generating optimal robot actions and determining stable hand cart positions for object loading.

Main Methods:

  • Utilized nonlinear optimization to solve the challenges of robot action generation and hand cart positioning.
  • Developed a specific algorithm for generating robot actions to ensure stable object transport.
  • Validated the proposed methodology through extensive simulations and real-world experiments.

Main Results:

  • The proposed method significantly reduces the number of robots needed for transporting large objects by 50-60%.
  • Successfully demonstrated the method's efficacy in real environments, accounting for common errors in robot sensing and movement.
  • Achieved stable loading of large objects onto hand carts through optimized robot actions and positioning.

Conclusions:

  • The developed methodology offers an efficient and robust solution for mobile robot-assisted object transportation.
  • Nonlinear optimization provides an effective framework for solving complex robotic manipulation and coordination tasks.
  • The approach enhances the practicality of using mobile robots for logistics and material handling in dynamic environments.