Experiments in Constrained Prehensile Manipulation: Distributed Manipulation with Ropes

This paper describes our experiments with a distributed manipulation system. We study a system in which multiple robots cooperate to move large objects such as furniture and boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting translations using a flossing manipulation gait, and affecting rotations using a ratcheting manipulation gait. We present experimental data and discuss the non-holonomic nature of this system.

• Type: Conference
• Year: 1999
• Where: ISER
• Authors: Bruce Randall Donald, Larry Gariepy, Daniela Rus
• Keywords: Constrained Prehensile Manipulation, ISER 1999, Manipulation Gait, Manipulation System, Robotics