Distributed robot helpers handling a single object in cooperation with a human

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59 Citations (Scopus)

Abstract

In this paper, we propose distributed robot helpers, referred to as Dr Helpers and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The Dr Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled as if it has a caster-like mechanism. The adaptive dual caster action is proposed to improve the maneuverability of the system. Multiple Dr Helpers could transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using multiple Dr Helpers will illustrate the validity of the proposed control system.

Original languageEnglish
Pages (from-to)458-463
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2000 Dec 3
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

ASJC Scopus subject areas

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

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