Transportation of an object by multiple distributed robot helpers in cooperation with a human

Yasuhisa Hirata, Takuro Hatsukari, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


In this paper, we propose a concept of a human robots cooperation system referred to as distributed robot helpers and a decentralized motion control algorithm of multiple mobile robot helpers for handling a single object in cooperation with a human/humans. The prototype system of distributed robot helpers referred to as DR Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each system is controlled by a kind of a damping motion control law using its own controller. Multiple DR Helpers transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using two DR Helpers will illustrate the concept and show the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)1207-1214
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number4
Publication statusPublished - 2002 Apr


  • Distributed Robot Helpers
  • Human
  • Motion Control
  • Moving Robot
  • Robot
  • Transportation

ASJC Scopus subject areas

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


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