Robonova carrying an object

[Little Michael]

This is the video of my final degree project. I've been working with two Robonova robots that are carriyng a ladder cooperatively. It's a distributed multirobot system, that is, each robot moves independently. The red Robonova is teleoperated and the yellow one perceives the movement of the first one through two force sensors (FSR) located on its hands. They make two kinds of movements, walking forward, turn left and turn right.

http://es.youtube.com/watch?v=4r91vFod9IU

I wish you like it.

[NovaOne]

Looks difficult. Have you seen this thread...would it be useful?

http://robosavvy.com/forum/viewtopic.php?t=750&highlight=handshake

How are you synchronising the two robots, or do they just use different routines in response to the same IR signal?

[limor]

very impressive! in some of the moves they are so in sync that they look like they are both remote controlled simultaneously.
i've added this to the wiki

[Little Michael]

How are you synchronising the two robots, or do they just use different routines in response to the same IR signal?

They are not synchronised, this is the dificult part of my project. Both robots walk independently, first I give the order to the red RN to move forward pressing the key 1 of the remote control and the robot stretch out both hands and begin to walk. The yellow RN perceives that the FSR sensors has been pushed by the end of the ladder, so it begins to move backwards. The movement of turning is similar.

The FSR sensors are situated on the hands of the yellow RN:



I have made it this way becuse I want to make the system as real as posible. When 2 people are carrying a ladder they don't tell each other where to go, instead, one follows the other by feeling his movement. This project is the same.

In fact, sometimes the two robot are not totally aligned so the red robot can stretch both arms but the yellow only sense one of the FSR, so the red robot moves forward and the yellow one turns, so the system crash!!!!It's been very difficult to make that the robots always keep the distance and don't turn themselves.

[kim]

very good works