Mobile robot helper

Kazuhiro Kosuge, Manabu Sato, Norihide Kazamura

Research output: Contribution to journalConference articlepeer-review

86 Citations (Scopus)

Abstract

In this paper, we propose a mobile robot helper and its motion control algorithm for handling an object in cooperation with a human. First, we introduce a prototype of the mobile robot helper, 'MR Helper', which consists of two manipulators and an omni-directional mobile base. We then propose a control algorithm of the MR Helper for handling an object in cooperation with a human. The control algorithm specifies the apparent dynamics of the manipulated object so that the human could handle the manipulated object together with the robot. Load sharing by the MR Helper and a human is also realized by introducing a lifting-up/down system. The control algorithm is experimentally applied to the 'MR Helper', and the experimental results illustrate the validity of the proposed control algorithms.

Original languageEnglish
Pages (from-to)583-588
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2000 Dec 3
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

ASJC Scopus subject areas

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

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