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We present object handling and transporting by a multi-robot team with adeformable sheet as a carrier. Due to the deformability of the sheet and thehigh dimension of the whole system, it is challenging to clearly describe allthe possible positions of the object on the sheet for a given formation of themulti-robot system. A complete forward kinematics (FK) method is proposed forobject handling by an $N$-mobile robot team with a deformable sheet. Based onthe virtual variable cables model (VVCM), a constrained quadratic problem (CQP)is formulated by combining the geometric constraints and minimum potentialenergy conditions of the system. Analytical solutions to the CQP are presentedand then further verified with the force closure condition. We present an FKalgorithm based on the FK method to obtain all possible solutions with thegiven initial sheet shape and the robot team formation. We demonstrate theeffectiveness, completeness, and efficiency of the FK algorithm withexperimental results and case study examples.

Forward Kinematics of Object Transporting by a Multi-Robot System with a Deformable Sheet