两机器人通过物理对接形成统一操作平台，提升协作稳定性与效率。
MobiDock: Design and Control of A Modular Self Reconfigurable Bimanual Mobile Manipulator via Robotic Docking
- 用视觉定位与螺纹锁紧实现自主对接，构建可重构双臂移动机器人
- 对接后系统加速度和抖动更小，角度精度更高，任务完成更快
- 适合需要高稳定性和复杂协同的工业或服务场景
多机器人系统，尤其是移动操作机器人，在协同作业时面临控制协调与动态稳定难题。为此，本文提出MobiDock——一种模块化自重构移动双臂操作机器人系统，使两个独立机器人可通过物理连接形成统一的移动双臂平台，将复杂的多机器人控制问题转化为单一系统的管理。系统采用基于计算机视觉与AprilTag标记的自主对接策略，以及新型螺纹锁紧机构。实验表明，对接后的系统在动态稳定性和操作效率上优于独立协作的双机器人：其均方根加速度（RMS Acceleration）和加加速度（Jerk）更低，角精度更高，任务完成时间显著缩短。结果证实，物理重构是一种强大设计原则，能有效简化协作控制，提升真实环境中复杂任务的稳定性与性能。
原文摘要 · Abstract (English)
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile manipulator system that allows two independent robots to physically connect and form a unified mobile bimanual platform. This process helps transform a complex multi-robot control problem into the management of a simpler, single system. The system utilizes an autonomous docking strategy based on computer vision with AprilTag markers and a new threaded screw-lock mechanism. Experimental results show that the docked configuration demonstrates better performance in dynamic stability and operational efficiency compared to two independently cooperating robots. Specifically, the unified system has lower Root Mean Square (RMS) Acceleration and Jerk values, higher angular precision, and completes tasks significantly faster. These findings confirm that physical reconfiguration is a powerful design principle that simplifies cooperative control, improving stability and performance for complex tasks in real-world environments.
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