Handling of a large object by multiple mobile robots in cooperation with a human

Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

Research output: Contribution to journalArticlepeer-review


In this paper, we popose a decentralized control algorithm of multiple mobile robots which have been developed for manipulating a large or a long object in cooperation with a human. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object and the manipulation of the large or the long object is realized easily in cooperation wit a human. The proposed control algorithm is experimentally applied to two omni-directional mobile robots referred to as DR Helper and experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)759-765
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number3
Publication statusPublished - 2004 Mar


  • Coordinated Motion Control
  • Handling
  • Motion Control
  • Moving Robot
  • Robot
  • Virtual Caster-Like Dynamics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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