Realizing cooperative object manipulation using multiple behaviour-based robots

Abstract

This paper describes a robots system BeRoSH which incorporates a behaviour-based dynamic cooperation strategy for multiple behaviour-based robots. This behaviour-based dynamic cooperation strategy is realized in two steps: designing the distributed robot's cooperative behavioural attributes according to its abilities, and organizing these behavioural attributes. Through the behaviour design, this strategy allows the dynamic cooperation control to be distributed equally to each robot. In organizing the robots' abilities, the concept of form closure is introduced as the basic strategy. An experimental robot system and experimental results of object transportation and assembly work are also shown.