Today Robot Systems are becoming more and more significant in various aspects of human life, for example in industrial, commercial and scientific applications. As a result of scientific achievements and industrial development, the number of robots currently being used in industrial projects is increasing fast. However, robotics have been evolving in the last years and there has been an increasing interest in developing Multirobot systems, capable of performing robust cooperative work.

Control and communication methods for multirobot systems have been investigated by various researchers. Problems such as motion planning and coordination of multirobot systems are generally approached with a centralized controller in mind. Moreover, most of the work in obstacle avoidance and motion planning has been developed on a single robot interacting with its environment.

This work is part of the relatively new interest in interaction between autonomous robots. Such systems bring in the problems of both multiple robot coordination and autonomous navigation. However, due to the complexity in developing a complete system, this paper will focus on a specific task: lifting a non-deformable body. This task appears to be very simple when a single robot performs it, but what happens when the object is too heavy or too large for one robot to carry it? Those conditions are the ones of interest for the present study.

Since the cooperation in the system will be based upon the interchange of information relating to position and force sensing of the robots, the operative systems must integrate several characteristics to make this communication easier, besides, the force feedback must come from a reliable source, so the sensor should be robust enough to provide this information.