OPENTECHNICAL PUBLICATION
OT-2026-000002816

Method and system for multirobot collaborative mobile manipulation

Published: 2026-09-15T19:15:32.694583Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002816
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A robot system includes a plurality of mobile manipulator robots, where each
mobile manipulator robot includes a mobile robot base, a robot manipulator
mounted to the mobile robot base, and one or more computers in communication
with the mobile robot base and the robot manipulator. The robot manipulator
includes an end-effector that incorporates passive compliance due to spring
elements at one or more joints of the robot manipulator. The one or more
computers coordinate motion control of the mobile robot base and force control
at the end-effector of the robot manipulator to manipulate a payload in
cooperation with other mobile manipulator robots of the plurality, while
collaborating with zero, one, or a plurality of human users that are in
contact with the payload.

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OpenTechnical publication OT-2026-000002816
Published 2026-09-15T19:15:32.694583Z
https://opentechnical.org/p/OT-2026-000002816