Motion control of caster-type passive mobile robot with servo brakes

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7 Citations (Scopus)

Abstract

In this paper, we introduce a passive mobile robot called prototype Caster-Type Passive Robot Porter (C-PRP), which is developed on the basis of a concept of passive robotics. This mobile robot consists of two casters with servo brakes and one passive rigid wheel. Prototype C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. We derive the feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. This paper especially focuses on a fundamental motion control algorithm based on the feasible braking force/moment. We realize the path tracking function and the collision avoidance function as examples by applying the proposed algorithm to prototype C-PRP. These functions are implemented to prototype C-PRP actually, and experimental results confirm its validity.

Original languageEnglish
Pages (from-to)1271-1290
Number of pages20
JournalAdvanced Robotics
Volume26
Issue number11-12
DOIs
Publication statusPublished - 2012 Jul 1

Keywords

  • brake control
  • caster
  • human-robot interaction
  • passive mobile robot
  • passive robotics

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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