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This paper presents a distributed object transportation technique using a virtual object. Previous methods of object transportation have been required to have a global navigation function with a feedback controller. In other words, all robots should have the goal position to manipulate the object when using those methods, and with them it was difficult to guarantee the wrapping condition of the object during transportation. The proposed technique, however, enables the object to be transported without a global navigation function by means of a new technique termed a virtual object. The proposed technique is divided into three phases: the approaching phase, the enclosing phase, and the transporting phase. Simulated experiments are presented to test the validity and practicality of the proposed method. Index Terms—object transportation, virtual object, object closure |
