Multi-Robot Collaboration with Heterogeneous Capabilities

Abstract

Legged robots have recently emerged as a viable option for solving locomotion and manipulation problems over unstructured terrains [1] . Traversing over terrain obstacles while still being able to execute manipulation tasks, such as opening doors, is essential to solve the problems that are encountered by other robotic collaborators. For this experimental demo, we are showcasing stable bipedal locomotion and manipulation with the Digit humanoid robot to collaborate with a drone robot. Drones are exceptional at visual inspection tasks, but lack the ability to manipulate their environment. The demonstrated capabilities showcase a holistic framework that enables team of robots to assist each other in resolving environment conflicts.