Abstract
In this paper, we propose a new control system for a mobile robot helper, referred to as Mr Helper, which could handle an object in cooperation with a human. The system could execute cooperative manipulation with a human and autonomous transportation by itself, without mode switching accompanied by the change of dynamics. To realize the system, we have the robot execute robot's tasks based on force/moment information that is applied to the dynamics of the robot. This information is treated as unified input information that is inputted into the system. The proposed control system is experimentally implemented in Mr Helper and experimental results illustrate the validity of the system.
| Original language | English |
|---|---|
| Pages | 1102-1107 |
| Number of pages | 6 |
| Publication status | Published - 2002 Jan 1 |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 2002 Sept 30 → 2002 Oct 4 |
Other
| Other | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 02/9/30 → 02/10/4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications