Object-impedance-based cooperative handling of object by mobile robot helper and human using visual and force information

R. Suda, Kazuhiro Kosuge, H. Kakuya

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

7 Citations (Scopus)

Abstract

In this paper, we propose a new control system for a mobile robot helper, referred to as M/sub R/ Helper, which could handle an object in cooperation with a human. The proposed system consists of cooperative manipulation with a human and autonomous transportation by itself using visual and force information. In this system, the object is controlled so that it has an apparent dynamics relative to the global coordinate system, and the system is controlled based on the object impedance. As a result, in the cooperative manipulation, a motion of the object is not influenced by a motion of the mobile base. In the autonomous transportation, the robot can follow the human's path without collision with obstacle which are around the mobile base. The proposed control system is experimentally implemented in M/sub R/ Helper and experimental results illustrate the validity of the system.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages592-597
Number of pages6
Volume1
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period03/7/2003/7/24

Keywords

  • Automatic control
  • Control systems
  • Humans
  • Impedance
  • Manipulators
  • Medical robotics
  • Mobile robots
  • Robot kinematics
  • Robotics and automation
  • Service robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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