title: Object Transportation by Two Mobile Robots with Hand Carts.
abstract: This paper proposes a methodology by which two small mobile robots can grasp, lift, and transport large objects using hand carts. The specific problems involve generating robot actions and determining the hand cart positions to achieve the stable loading of objects onto the carts. These problems are solved using nonlinear optimization, and we propose an algorithm for generating robot actions. The proposed method was verified through simulations and experiments using actual devices in a real environment. The proposed method could reduce the number of robots required to transport large objects with 50-60%. In addition, we demonstrated the efficacy of this task in real environments where errors occur in robot sensing and movement.
authors.affiliation: Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan.
authors.forename: Takuya
authors.identifier: 0000-0001-8221-0164
authors.initials: T
authors.lastname: Sakuyama
authors.affiliation: Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan.
authors.forename: Jorge David
authors.identifier: 0000-0002-6784-5003
authors.initials: JD
authors.lastname: Figueroa Heredia
authors.affiliation: Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan.
authors.forename: Taiki
authors.identifier: 0000-0002-0590-598X
authors.initials: T
authors.lastname: Ogata
authors.affiliation: Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan.
authors.forename: Tatsunori
authors.initials: T
authors.lastname: Hara
authors.affiliation: Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan.
authors.forename: Jun
authors.identifier: 0000-0002-4738-2275
authors.initials: J
authors.lastname: Ota