Kumar, D S V S
(2015)
Cooperative Load Sharing by Nao Humanoid Robots.
Masters thesis, Indian Institute of Technology Hyderabad.
Abstract
Load Sharing is one of the major tasks in Cooperative Transportation by robots. When the members of the team are biped robots the Cooperative Load Sharing becomes even more difficult to handle as when compared to the other type of mobile robots due to increased Degrees Of Freedom and low stability margin. To share the load first the robots should be sure of the total load, number of robots and the percentage of the load they have to share. After knowing the load they have to detect the amount of load being put on them, share the information with other robots and cooperatively adjust themselves so that the total load is shared equally. To learn the force interactions the robots requires special force sensors but these are costly and are not present in many robotic platforms.
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