Design and control of a passive mobile robot system for object transportation

Kenta Fukaya, Yasuhisa Hirata, Zhidong Wangt, Kazuhiro Kosuge

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

13 Citations (Scopus)

Abstract

In this paper, we propose a concept of a passive type robot for transporting a single object in coordination with a human operator. We developed a prototype of passive type robot referred to as RT Porter, which consists of support frame, three omni-directional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint and this allows RT Porter to track a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages31-36
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China
Duration: 2006 Jun 252006 Jun 28

Publication series

Name2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Volume2006

Other

Other2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
CountryChina
CityLuoyang
Period06/6/2506/6/28

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Mechanical Engineering
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Design and control of a passive mobile robot system for object transportation'. Together they form a unique fingerprint.

Cite this