@article{da14969f6a9a4ae99c5bd5eb2cb84261,
title = "Transporting an object by a passive mobile robot with servo brakes in cooperation with a human",
abstract = "In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter) to realize transportation of an object in cooperation with human, which is developed based on a concept of passive robotics. PRP consists of three omni-directional wheels with servo brakes and a controller. It can manipulate an object by controlling an external force/moment applied by a human based on the control of the servo brakes. We consider the characteristics of the servo brakes and control the brake torque of each wheel based on the brake force/moment constraint so that several motion functions of PRP are realized based on the applied force. This allows PRP to track a path which includes motion perpendicular to the pushing direction of the human without using servo motors. The impedance-based motion control is also realized with respect to the perpendicular to the pushing direction. These functions are implemented on PRP experimentally, and the experimental results illustrate the validity of PRP and its control method.",
keywords = "Brake control, Human-robot interaction, Object handling, Passive Mobile robot, Passive robotics",
author = "Yasuhisa Hirata and Zhidong Wang and Kenta Fukaya and Kazuhiro Kosuge",
note = "Funding Information: Yasuhisa Hirata received his BE, ME and PhD degrees in Mechanical Engineer-ing from Tohoku University, Sendai, Japan, in 1998, 2000 and 2004, respectively. From 2000 to 2006, he worked as a Research Associate in the Department of Bioengineering and Robotics, Tohoku University. From 2002 to 2004, he was a Researcher at Precursory Research for Embryonic Science and Technology (PRESTO), Japan Science and Technology Agency. Since 2006, he has been work-ing as an Associate Professor in the Department of Bioengineering and Robotics, Tohoku University. He received the Young Investigator Excellence Award of the Robotics Society of Japan in 2001, the Best Paper in Robotics Award of ROBIO in 2004, the Research Promotion Award of the Aoba Foundation for the Promotion of Engineering in 2004, the JSME Award for Best Paper from the Japan Society of Mechanical Engineers in 2005, the Best Paper Award of the Robotics Society of Japan in 2005, and the Original Paper Award of the FANUC FA and Robot Foundation in 2006. His research interests include intelligent control of multiple mobile robots in co-ordination, human–robot cooperation systems, power assist systems and walking support systems. He is a member of the IEEE, Robotics Society of Japan and Japan Society of Mechanical Engineers.",
year = "2009",
month = mar,
day = "1",
doi = "10.1163/156855309X408745",
language = "English",
volume = "23",
pages = "387--404",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "4",
}