Load sharing algorithm for transporting an object by two mobile robots in coordination

Hiroki Takeda, Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

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

5 Citations (Scopus)

Abstract

In this paper, we propose an object transporting system by two tracked mobile robots in an environment with a slope. In such environment an effect of an external force applied to the object should be considered. We first address dynamic cooperative control algorithm of the robot system without external force applied to the object. Next, we derive cooperative control algorithm of the system including the effect of the external force. Then we propose an algorithm of a load sharing among robots in an uneven environment. We apply the proposed algorithm to the experimental system of two tracked mobile robots and illustrate the validity of the proposed algorithm.

Original languageEnglish
Title of host publicationProceedings - 2004 International Conference on Intelligent Mechatronics and Automation
Pages374-378
Number of pages5
Publication statusPublished - 2004 Dec 1
EventProceedings - 2004 International Conference on Intelligent Mechatronics and Automation - Chengdu, China
Duration: 2004 Aug 262004 Aug 31

Publication series

NameProceedings - 2004 International Conference on Intelligent Mechatronics and Automation

Other

OtherProceedings - 2004 International Conference on Intelligent Mechatronics and Automation
CountryChina
CityChengdu
Period04/8/2604/8/31

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Takeda, H., Wang, Z. D., Hirata, Y., & Kosuge, K. (2004). Load sharing algorithm for transporting an object by two mobile robots in coordination. In Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation (pp. 374-378). (Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation).