Development of omni-directional mobile base with servo brakes for passive dance partner robot

Yasuhisa Hirata, Yoshinori Koike, Zhao Liu, Kazuhiro Kosuge

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

4 Citations (Scopus)

Abstract

In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
PublisherIEEE Computer Society
Pages676-681
Number of pages6
ISBN (Print)9781424426799
DOIs
Publication statusPublished - 2009 Jan 1
Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
Duration: 2009 Feb 212009 Feb 26

Publication series

Name2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Other

Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CountryThailand
CityBangkok
Period09/2/2109/2/26

Keywords

  • Brake control
  • Omni-directional mobile base
  • Original motion characteristics
  • Passive dance partner robot

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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