Human-robots collaboration system for flexible object handling

K. Kosuge, S. Hashimoto, H. Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

A new concept of the human-robots collaboration is introduced in this system; the task is shared among the human and the robots. The robots appropriately deform and support the object, so that the human can easily handle it by only applying his/her intentional force to the object. First, the controller of multiple robots is designed so as to decrease the effect of noises from force sensors. Then deformation control of the flexible object is designed using the internal force applied to the object. The control system is experimentally implemented in a dual manipulator system which consists of two industrial robots. The experimental results illustrate the concept of the system.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1841-1846
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

ASJC Scopus subject areas

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

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