The augmented object model: cooperative manipulation and parallel mechanism dynamics

The augmented object model provided the basis for effective cooperation between multiple robots. These robots were assumed to have a single serial-chain structure. In this paper we discuss the augmented object model in the context of mechanisms involving multiple branches such as humanoid robots and parallel mechanisms. An application of the proposed model in the dynamic modeling of a holonomic mobile base and experimental results using real-time dynamic simulation are presented to illustrate the effectiveness of the proposed approach.