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This research aims to create a framework of transporting an object by multiple humanoid robots. e.g. In this work, a leader-follower type cooperation method is used. In the leader-follower method, the leader robot is directly operated by a human operator, and the follower robot is programmed to follow the leader robot based on the force sensor information measured on its hands. This force is due to relative displacement of the robots and could induce unstable condition. The force leads to falling down of the robots in the worst case. We propose a system of easing the interactive force while moving in this paper. |
