JL-2: A Mobile Multi-robot System with Docking and Manipulating Capabilities

Author:

Wang Wei1,Yu Wenpeng2,Zhang Houxiang2

Affiliation:

1. Robotics Institute, Beihang University, Beijing, China

2. TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany

Abstract

This paper presents a new version of the JL series reconfigurable multi-robot system called JL-2. By virtue of the docking manipulator composed of a parallel mechanism and a cam gripper, every mobile robot in the JL-2 system is able to not only perform tasks in parallel, e.g. moving and grasping, but also dock with each other even if there are large misalignments between two robots. A motorized spherical joint is formed between two docked robots to enhance the locomotion capability of JL-2. To fulfill the demands of reconfiguration, a distributed control system and sonar based docking guidance system are designed for the JL-2 prototype. Based on the above design, the JL-2 prototype has been built and successfully demonstrated to confirm the validity and functionality of the proposed capabilities.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

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