Motion control of passive mobile robot with multiple casters based on feasible braking force and moment

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

2 Citations (Scopus)

Abstract

We introduce a passive mobile robot called C-PRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3130-3137
Number of pages8
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Saida, M., Hirata, Y., & Kosuge, K. (2010). Motion control of passive mobile robot with multiple casters based on feasible braking force and moment. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 3130-3137). [5650940] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650940