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The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics

10 years 4 months ago
The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics
in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, April 2000 The augmented object model provided the basis for effective cooperation between multiple robots. These robots were assumed to have a single serial-chain structure. In this paper we discuss the augmented object model in the context of mechanisms involving multiple branches such as humanoid robots and parallel mechanisms. An application of the proposed model in the dynamic modeling of a holonomic mobile base and experimental results using real-time dynamic simulation are presented to illustrate the effectiveness of the proposed approach.
Kyong-Sok Chang, Robert Holmberg, Oussama Khatib
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Kyong-Sok Chang, Robert Holmberg, Oussama Khatib
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