Impedance-based motion control of passive-type robot porter for handling an object

Zhi Dong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge

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

8 Citations (Scopus)

Abstract

A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages709-714
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China
Duration: 2006 Dec 172006 Dec 20

Publication series

Name2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Other

Other2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
CountryChina
CityKunming
Period06/12/1706/12/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering

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