Motion control of passive robot porter with variable motion characteristics for handling a single object

Yasuhisa Hirata, Hamin Song, Kazuhiro Kosuge

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

Abstract

In this paper, we introduce omni-directional object handling robot system developed based on passive robotics and propose its motion control algorithm for realizing variable motion characteristics of the handling object. Passive object handling robot called PRP (Passive Robot Porter) is controlled by servo brakes attached to the wheels of the robot. By designing the control algorithms of the servo brakes appropriately, the PRP has many functions such as navigation function and collision avoidance. In this paper, we especially focus on a motion control of the PRP for realizing variable motion characteristics of the handling object If we can change the motion characteristics of it arbitrarily based on the servo brake control of the PRP, the maneuverability of the human operator would be improved. In this paper, we design the motion control algorithm and implement it to the PRP experimentally. Experimental results of the object handling illustrate the validity of the proposed method.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PublisherIEEE Computer Society
Pages1041-1046
Number of pages6
ISBN (Print)9781424417582
DOIs
Publication statusPublished - 2007 Jan 1
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: 2007 Dec 152007 Dec 18

Publication series

Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Other

Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/TerritoryChina
CityYalong Bay, Sanya
Period07/12/1507/12/18

Keywords

  • Object handling
  • Passive mobile robot
  • Servo brake control
  • Variable motion characteristics of object

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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