METHOD AND SYSTEM FOR MULTIROBOT COLLABORATIVE MOBILE MANIPULATION

A robot system includes a plurality of mobile manipulator robots, where each mobile manipulator robot includes a mobile robot base, a robot manipulator mounted to the mobile robot base, and one or more computers in communication with the mobile robot base and the robot manipulator. The robot manipulator includes an end-effector that incorporates passive compliance due to spring elements at one or more joints of the robot manipulator. The one or more computers coordinate motion control of the mobile robot base and force control at the end-effector of the robot manipulator to manipulate a payload in cooperation with other mobile manipulator robots of the plurality, while collaborating with zero, one, or a plurality of human users that are in contact with the payload.