Distributed manipulation of multiple objects using ropes

摘要

This paper describes a system in which multiple robots cooperate to move multiple objects such as groups of boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting rotations using a flossing manipulation gait, and affecting translations using a ratcheting manipulation gait. We present algorithms for these operations, a numerical analysis for the motion of groups of boxes, and experimental results.