Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human

Yasuhisa Hirata, Youhei Kume, Zhi Dong Wang, Kazuhiro Kosuge

研究成果: Conference article査読

22 被引用数 (Scopus)

抄録

In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.

本文言語English
ページ(範囲)938-943
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 2003 12 9
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
継続期間: 2003 9 142003 9 19

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人工知能
  • 電子工学および電気工学

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