Manipulation of a large object by multiple Dr helpers in cooperation with a human

Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asam, Hayato Kaetsu, Kuniaki Kawabata

Research output: Contribution to conferencePaper

17 Citations (Scopus)

Abstract

In this paper, we propose a decentralized control algorithm of multiple Dr Helpers which have been developed for manipulating a large object in cooperation with a human. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object and manipulation of a large or a long object in cooperation with a human is realized easily. The proposed control algorithm is experimentally applied to two Dr Helpers and experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages126-131
Number of pages6
Publication statusPublished - 2001 Dec 1
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

ASJC Scopus subject areas

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

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  • Cite this

    Hirata, Y., Takagi, T., Kosuge, K., Asam, H., Kaetsu, H., & Kawabata, K. (2001). Manipulation of a large object by multiple Dr helpers in cooperation with a human. 126-131. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.