Cooperative transportation of object by mobile robot helper and human

Kazuhiro Kosuge, Rio Suda, Norihide Kazamura, Manabu Sato, Hiromu Kakuya

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

In this paper, we propose a mobile robot helper and its motion control algorithm for handling an object in cooperation with a human. First, we introduce a prototype of the mobile robot helper, "Mr Helper", which consists of two manipulators and an omni-directional mobile base. We then propose a control algorithm for handling an object in cooperation with a human. The control algorithm specifies the apparent dynamics of the manipulated object so that the human could handle the manipulated object together with the robot. Load sharing by "Mr Helper" and a human is also realized by introducing a lifting-up/down system. The control algorithm is experimentally applied to the "Mr Helper", and the experimental results illustrate the validity of the proposed control algorithms.

Original languageEnglish
Pages (from-to)2308-2314
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number9
DOIs
Publication statusPublished - 2003 Sep

Keywords

  • Human-robot cooperation
  • Mobile manipulator
  • Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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