Nonholonomic Cooperative Manipulation in the Plane Using Linear Complementarity Formulation

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Conference Proceeding

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This paper presents a framework in which a group of nonholonomic wheeled mobile robots are cooperatively utilized to manipulate a polygonal object in the plane. In this framework, the robots are assumed to contact the object without friction, applying forces normal to the object’s boundary. Contacts between the wheeled mobile robots and object are resolved through Moreau’s time stepping algorithm with a linear complementarity problem. The robots are controlled so that the object’s pose is asymptotically stabilized without the need for trajectory planning. Lastly, a recovery controller is proposed that places agents on the boundary of the object with a force closure grasp. An extensive simulation study is presented to support the proposed framework.