Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human

Yasuhisa Hirata, Youhei Kume, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Contribution to journalConference articlepeer-review

22 Citations (Scopus)

Abstract

In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)938-943
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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