Handling of object by mobile robot helper in cooperation with a human using visual information and force information

Rio Suda, Kazuhiro Kosuge

Research output: Contribution to conferencePaperpeer-review

16 Citations (Scopus)

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 languageEnglish
Pages1102-1107
Number of pages6
Publication statusPublished - 2002 Jan 1
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

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

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