Manipulation of Deformable Objects with a Multi-robot System

When dealing with object manipulation, they can be too large, heavy or difficult for a single robot to grasp. Therefore, to improve the performance when these tasks are executed, multiple robotic manipulators could be considered. This paper presents a cooperative multi-robot system capable of manipulating deformable objects in a coordinated and controlled manner, making the object also acquire the desired shape and configuration in space. Additionally, strategies that avoid collision of obstacles with the transported object and the mobile robots are implemented, extending its application in dynamic and unstructured environments. The algorithm is flexible with respect to the shape of the transported object and the number of manipulator robots, making it a versatile solution capable of being applied in many different contexts depending on the needs. The PyBullet simulator visualises in real time the movement of the robots and obstacles, as well as the behaviour of the deformable object being transported.