Computer Science ETDs

Publication Date

Fall 12-13-2025

Abstract

The Dynamic Admittance Parameterization of Non-Prehensile Multi-Robot Trans- port with Optimal Coordinated Planning (DYNAMO) architecture offers a practical framework for cooperative payload transportation using two robots equipped with nonholonomic mobile bases and four-degree-of-freedom manipulators. Coordinated mobile manipulation is a difficult problem in robotics, and the non-prehensile case is even more challenging than its prehensile counterpart because the robot bases and the payload are dynamically coupled. DYNAMO adapts arm motion in response to interaction forces and generates coordinated base trajectories that account for this coupling. Robust payload transport is achieved through the combination of opti- mal planning and adaptive compliant control, which enables each robot to maintain appropriate contact forces. In hardware experiments with two Joint Integrated Ad- mittance, Navigation, and Transport (JiANT) robots, DYNAMO yields longer and more reliable transport than static admittance- or position-based methods. These results provide a practical foundation for cooperative non-prehensile manipulation in domains such as logistics, construction, and hazardous material handling.

Keywords

Multi-robot systems, Non-prehensile manipulation, Cooperative manipulation, Admittance control, Mobile manipulation

Document Type

Thesis

Degree Name

Computer Science

Level of Degree

Masters

Department Name

Department of Computer Science

First Committee Member (Chair)

Melanie Moses

Second Committee Member

George Matthew Fricke

Third Committee Member

Jonathon E. Slightam

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