Development of omni-directional mobile base with servo brakes for passive dance partner robot

Yasuhisa Hirata, Yoshinori Koike, Zhao Liu, Kazuhiro Kosuge

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
出版社IEEE Computer Society
ページ676-681
ページ数6
ISBN(印刷版)9781424426799
DOI
出版ステータスPublished - 2009 1 1
イベント2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
継続期間: 2009 2 212009 2 26

出版物シリーズ

名前2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Other

Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CountryThailand
CityBangkok
Period09/2/2109/2/26

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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