In this paper, we popose a decentralized control algorithm of multiple mobile robots which have been developed for manipulating a large or a long object in cooperation with a human. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object and the manipulation of the large or the long object is realized easily in cooperation wit a human. The proposed control algorithm is experimentally applied to two omni-directional mobile robots referred to as DR Helper and experimental results illustrate the validity of the proposed control algorithm.
|ジャーナル||Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版物ステータス||Published - 2004 3|
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering