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 language | English |
|---|---|
| Pages (from-to) | 3223-3228 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 5 |
| Publication status | Published - 2001 Dec 1 |
| Event | 2001 IEEE International Conference on Systems, Man and Cybernetics - Tucson, AZ, United States Duration: 2001 Oct 7 → 2001 Oct 10 |
Keywords
- Cooperation
- Impedance Control
- Mobile manipulator
- Robot
ASJC Scopus subject areas
- Control and Systems Engineering
- Hardware and Architecture