Estimation of position and orientation of multiple robots handling an unknown single object in coordination

Abstract

In this paper, we propose a method to estimate geometrical relations among grasping points of robots handling an unknown single object in coordination. The method utilizes the velocity relation between a grasping point of a robot and that of the reference robot. The relation among the grasping points of robots is estimated recursively by the extended Kalman filter. Simulation and experimental results using two mobile robots illustrate the effectiveness of the proposed method.