Multiple Mobile Manipulators Coordination -DR Helpers II-

drhelper1

In this project, we have proposed a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. Each mobile manipulator consists of an omni-directional mobile base and a 7-DOF manipulator. The multiple mobile manipulators can handle a single object in 3D space based on the intentional force/moment applied to the object by a human.