Advances in Cooperative Transport by Two Mobile Robots

Special gimbal mechanisms and algorithms that implement decentralized compliant control have been developed for use in research on the sensors, the actuators, and the design and functional requirements for systems of multiple mobile robots cooperating in site-clearance and construction operations. The gimbal mechanisms and control algorithms were designed, in particular, to enable two robotic exploratory vehicles (i.e., rovers) to transport a long payload while moving along the ground in a commanded formation. Although these developments are parts of a continuing effort to develop robotic capabilities for exploration of Mars, the same robotic capabilities could be expected to find application on Earth.