Control algorithm of dual arms mobile robot for cooperative works with human

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19 Citations (Scopus)

Abstract

In this paper, we propose a motion control algorithm for the mobile robot with dual arms, "Mobile Robot Helper (MR Helper)", for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object flame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results illustrate the validity of the proposed algorithm.

Original languageEnglish
Pages (from-to)3223-3228
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume5
Publication statusPublished - 2001 Dec 1
Event2001 IEEE International Conference on Systems, Man and Cybernetics - Tucson, AZ, United States
Duration: 2001 Oct 72001 Oct 10

Keywords

  • Cooperation
  • Impedance Control
  • Mobile manipulator
  • Robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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