Abstract
We present a cooperative approach to robotic precision manipulation tasks in the context of autonomous robotic construction. Precision manipulation requires a firm grasp, which constraints the team to rigidly maintain formation during transport and manipulation. A leader/follower approach with force sensing to provide relative formation information and vision to provide team position relative to construction components is applied. Our approach demonstrates successful, reliable performance of a construction task requiring cooperative transport and placement of structure components. Qualitative and quantitative performance results are provided.
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Stroupe, A., Huntsberger, T., Okon, A., Aghazarian, H. (2005). Precision Manipulation with Cooperative Robots. In: Parker, L.E., Schneider, F.E., Schultz, A.C. (eds) Multi-Robot Systems. From Swarms to Intelligent Automata Volume III. Springer, Dordrecht. https://doi.org/10.1007/1-4020-3389-3_19
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DOI: https://doi.org/10.1007/1-4020-3389-3_19
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-3388-9
Online ISBN: 978-1-4020-3389-6
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