We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm.

We propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.

In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture.

In this paper, we propose a decentralized control algorithm of multiple robots handling a single object in coordination. Different from our previous control algorithm the external force applied to the object, including the inertia force, is shared equally by all of the robots. The proposed control algorithm is experimentally applied to three mobile robots, each of which has one degree of freedom. The experimental results illustrate the validity of the proposed control system.

We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedence-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.

We propose a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the other robots referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. Each robot is controlled by its own controller without explicit communication among robots. Different from the conventional leader-follower type of robot control algorithms, the proposed control algorithm specifies the internal force applied to the object, while handling the object in coordination based on robot dynamics. The proposed control algorithm is experimentally applied to a one degree of freedom mobile robot, and the results illustrate the validity of the proposed control algorithm.