Object-impedance-based cooperative handling of object by mobile robot helper and human

Rio Suda, Kazuhiro Kosuge, Hiromu Kakuya

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this paper, we propose a motion control algorithm of a mobile robot with dual arms for handling an object in cooperation with a human. The algorithm specifies the apparent impedance of a manipulated object with respect to a world coordinate system. It also specifies the apparent impedance of the mobile base with respect to the object coordinate system without the influence to the motion of the object to the base. The control algorithm is implemented in Mobile Robot Helper(1) and experimental results illustrate the validity of the proposed algorithm.

Original languageEnglish
Pages (from-to)1388-1394
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number5
Publication statusPublished - 2004 May
Externally publishedYes


  • Human Robot Cooperation
  • Impedance Control
  • Mobile Manipulator
  • Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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