Table of Contents
International Scholarly Research Notices
Volume 2014, Article ID 684235, 15 pages
Research Article

Object Transportation by Two Mobile Robots with Hand Carts

Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan

Received 11 June 2014; Revised 20 August 2014; Accepted 22 August 2014; Published 29 October 2014

Academic Editor: Yonghuai Liu

Copyright © 2014 Takuya Sakuyama et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a methodology by which two small mobile robots can grasp, lift, and transport large objects using hand carts. The specific problems involve generating robot actions and determining the hand cart positions to achieve the stable loading of objects onto the carts. These problems are solved using nonlinear optimization, and we propose an algorithm for generating robot actions. The proposed method was verified through simulations and experiments using actual devices in a real environment. The proposed method could reduce the number of robots required to transport large objects with 50–60%. In addition, we demonstrated the efficacy of this task in real environments where errors occur in robot sensing and movement.