Map-based control of distributed robot helpers for transporting an object in cooperation with a human

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

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

In this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to the omni-directional mobile robots referred to as DR Helpers. Experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)3010-3015
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
DOIs
Publication statusPublished - 2001 Jan 1

ASJC Scopus subject areas

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

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