Boris Deroo

A Multi-Robot Hoisting System that Achieves Precision by Constructing and Exploiting Mechanical Constraints through Non-Prehensile Control

This paper describes a multi-robot solution for pick-and-place operations, that creates and exploits mechanical constraints to control the payload through interactions. The task requirements are split across a strong, but imprecise, crane and an accurate, but weak, dual-arm manipulator. First, the design of the manipul...