Realizing cooperative object manipulation using multiple behavior-based robots

This paper describes a robots system BeRoSH which incorporates a behavior-based dynamic cooperation strategy for multiple behavior-based robots. This behavior-based dynamic cooperation strategy is realized in two steps: designing the distributed robot's cooperative behavioral attributes according to its abilities, and organizing these behavioral attributes. Through the behavior design, this strategy allows the dynamic cooperation control to be distributed equally to each robot. In organizing robots' abilities, the concept of Form Closure is introduced as the basic strategy. An experimental robot system and experimental results of object transportation and assembly work are also shown.