Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information

Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

研究成果: Conference article査読

13 被引用数 (Scopus)

抄録

In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.

本文言語English
ページ(範囲)995-1000
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 - 2002 1月 1
イベント2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
継続期間: 2002 5月 112002 5月 15

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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