Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics

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

研究成果: Conference article査読

38 被引用数 (Scopus)

抄録

In this paper, we propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

本文言語English
ページ(範囲)807-812
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2004
1
出版ステータスPublished - 2004 7 5
イベントProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
継続期間: 2004 4 262004 5 1

ASJC Scopus subject areas

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

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