密な強調を行うマルチロボットのためのオブジェクト指向システムの構成法 Implementation of Object Oriented System for Tight Cooperative Work by Multiple Robots
The purpose of this research is to realize a Multiple Robots System which can be easily developed and managed. In order to perform robust cooperative work, it is necessary that multiple robots can achieve not only a high level of cooperation without communication but also simple cooperation with communication, and then switch between modes according to the situation. We call such cooperative work "Tight Cooperative Work". To achieve such cooperative work, there must be an integrated concept in the system about structure in a robot and whole system. We consider Object Oriented System is effective to realize this concept. In this paper, we propose a method for the construction of Object Oriented System for multiple robots. We constructed a cooperative working system called ICRoS and implemented it on two hexapod robots with parallel processors. We verified the effectiveness of this multiple robots system with four different experiments involving the cooperative lifting of a box.
日本ロボット学会誌 16(7), pp.927-933, 1998-10-15
The Robotics Society of Japan