Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

Y. Hirata; Y. Kume; Zhi Dong Wang; K. Kosuge

doi:10.1109/RISSP.2003.1285542

Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

Y. Hirata, Y. Kume, Zhi Dong Wang, K. Kosuge

ENG - Robotics

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

Abstract

In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results.

Original language	English
Pages	19-24
Number of pages	6
DOIs	https://doi.org/10.1109/RISSP.2003.1285542
Publication status	Published - 2003
Event	IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 - Changsha, Hunan, China Duration: 2003 Oct 8 → 2003 Oct 13

Other

Other	IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
Country/Territory	China
City	Changsha, Hunan
Period	03/10/8 → 03/10/13

ASJC Scopus subject areas

Human-Computer Interaction
Signal Processing
Artificial Intelligence

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10.1109/RISSP.2003.1285542

Cite this

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title = "Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster",

abstract = "In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results.",

author = "Y. Hirata and Y. Kume and Wang, {Zhi Dong} and K. Kosuge",

note = "Funding Information: This project has been partially supported by Grant-in-Aid for Scientific Research of Japan Society for the Promotion of Science(No. A-2-12305028). Publisher Copyright: {\textcopyright} 2003 IEEE.; IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 ; Conference date: 08-10-2003 Through 13-10-2003",

year = "2003",

doi = "10.1109/RISSP.2003.1285542",

language = "English",

pages = "19--24",

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TY - CONF

T1 - Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

AU - Hirata, Y.

AU - Kume, Y.

AU - Wang, Zhi Dong

AU - Kosuge, K.

N1 - Funding Information: This project has been partially supported by Grant-in-Aid for Scientific Research of Japan Society for the Promotion of Science(No. A-2-12305028). Publisher Copyright: © 2003 IEEE.

PY - 2003

Y1 - 2003

N2 - In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results.

AB - In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results.

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DO - 10.1109/RISSP.2003.1285542

M3 - Paper

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SP - 19

EP - 24

T2 - IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003

Y2 - 8 October 2003 through 13 October 2003

ER -

Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

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