TY - GEN
T1 - Motion control of passive robot porter with variable motion characteristics for handling a single object
AU - Hirata, Yasuhisa
AU - Song, Hamin
AU - Kosuge, Kazuhiro
PY - 2007/1/1
Y1 - 2007/1/1
N2 - 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.
AB - 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.
KW - Object handling
KW - Passive mobile robot
KW - Servo brake control
KW - Variable motion characteristics of object
UR - http://www.scopus.com/inward/record.url?scp=49249106574&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=49249106574&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2007.4522307
DO - 10.1109/ROBIO.2007.4522307
M3 - Conference contribution
AN - SCOPUS:49249106574
SN - 9781424417582
T3 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
SP - 1041
EP - 1046
BT - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PB - IEEE Computer Society
T2 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Y2 - 15 December 2007 through 18 December 2007
ER -