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This paper describes a system in which multiple robots cooperate to move multiple objects such as groups of boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tying ropes around objects, effecting rotations using a flossing manipulation gait, and effecting translations using a ratcheting manipulation gait. We present algorithms for these operations, a numerical analysis for the motion of groups of boxes, and experimental results.
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Donald et al. (2002) studied this question.