Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

Kazuhiro Kosuge; Tomohiro Oosumi; Yasuhisa Hirata; Hajime Asama; Hayato Kaetsu; Kuniaki Kawabata

Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

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

ENG - Robotics

Research output: Contribution to conference › Paper › peer-review

7 Citations (Scopus)

Abstract

In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture.

Original language	English
Pages	1419-1424
Number of pages	6
Publication status	Published - 1998 Dec 1
Event	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: 1998 Oct 13 → 1998 Oct 17

Other

Other	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
City	Victoria, Can
Period	98/10/13 → 98/10/17

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor. / Kosuge, Kazuhiro; Oosumi, Tomohiro; Hirata, Yasuhisa; Asama, Hajime; Kaetsu, Hayato; Kawabata, Kuniaki.

1998. 1419-1424 Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .

Research output: Contribution to conference › Paper › peer-review

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AU - Kaetsu, Hayato

AU - Kawabata, Kuniaki

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