Cooperative Lifting and Transport by a Group of Mobile Robots - Archive ouverte HAL Access content directly
Conference Papers Year : 2014

Cooperative Lifting and Transport by a Group of Mobile Robots

Bassem Hichri
  • Function : Author
Lounis Adouane
Jean-Christophe Fauroux
Youcef Mezouar
Y Doroftei
  • Function : Author


This paper addresses cooperative manipulation and transportation of any payload shape, by assembling a group of simple mobile robots (denoted m-bots) into a modular poly-robot (p-bot). The focus is made in this paper on the chosen methodology to obtain sub-optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation. This appropriate positioning is obtained by combining the constraint to ensure Force Closure Grasping (FCG) for stable and safe lifting of the payload and the maximization of the Static Stability Margin (SSM) during the transport. A predefined control law is then used to track a virtual structure in which each elementary robot has to keep the desired position relative to the payload. Simulation results for an object of any shape, described by a parametric curve, are presented. Additional 3D simulation results with a multi-body dynamic software validate our proposal.
Fichier principal
Vignette du fichier
2014_DARS_Hichri_Adouane_Fauroux_Mezouar_Doroftei_DRAFT_Cooperative_Lifting_and_Transport_by_a_Group_of_Mobile_Robots.pdf (4.72 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01712940 , version 1 (27-02-2018)


  • HAL Id : hal-01712940 , version 1


Bassem Hichri, Lounis Adouane, Jean-Christophe Fauroux, Youcef Mezouar, Y Doroftei. Cooperative Lifting and Transport by a Group of Mobile Robots. International Symposium on Distributed Autonomous Robotic Systems, DARS 2014, Nov 2014, Daejeon, France. ⟨hal-01712940⟩
138 View
81 Download


Gmail Facebook X LinkedIn More