Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors

Y. Kume, Yasuhisa Hirata, Kazuhiro Kosuge, H. Asama, H. Kaetsu, K. Kawabata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3004-3009
Number of pages6
DOIs
Publication statusPublished - 2001 Sep 15
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

Other2001 IEEE International Conference on Robotics and Automation
Country/TerritoryKorea, Republic of
CitySeoul
Period01/5/2101/5/26

ASJC Scopus subject areas

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

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