Manipulator/vehicle system for man-robot cooperation

Toshio Fukuda, Yoshio Fujisawa, Kazuhiro Kosuge, Fumihito Arai, Eiji Muro, Haruo Hoshino, Takasi Miyazaki, Kazuhiko Otubo, Kazuo Uehara

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

34 Citations (Scopus)


The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. Different from the manipulator avoiding tumbling is a very serious problem for the manipulator/vehicle system not fixed on the floor/ground tightly. Therefore, the authors consider an algorithm for controlling both the tip position of the end effector and the center of gravity of the manipulator and the payload being carried by the manipulator. This control algorithm was applied to the manipulator with the vehicle for man-robot cooperation. The trajectory of the manipulator is given by a human operator and the center of gravity is set so as not to tumble previously. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Number of pages6
ISBN (Print)0818627204
Publication statusPublished - 1992 Apr 1
Externally publishedYes
EventProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: 1992 May 121992 May 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation


OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr

ASJC Scopus subject areas

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


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