Load sharing of decentralized-controlled multiple mobile robots handling a single object

Kazuhiro Kosuge, Tomohiro Oosumi, Kunihiko Chiba

Research output: Contribution to journalConference article

24 Citations (Scopus)

Abstract

In this paper, we propose a decentralized control algorithm of multiple robots handling a single object in coordination. Different from our previous control algorithm, the external force applied to the object, including the inertia force, is shared equally by all of the robots. The proposed control algorithm is experimentally applied to three mobile robots, each of which has one degree of freedom. The experimental results illustrate the validity of the proposed control system.

Original languageEnglish
Pages (from-to)3373-3378
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
Publication statusPublished - 1997 Jan 1
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

ASJC Scopus subject areas

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

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