Object-impedance-based cooperative handling of object by mobile robot helper and human

Rio Suda, Kazuhiro Kosuge, Hiromu Kakuya

研究成果: Article査読

1 被引用数 (Scopus)

抄録

In this paper, we propose a motion control algorithm of a mobile robot with dual arms for handling an object in cooperation with a human. The algorithm specifies the apparent impedance of a manipulated object with respect to a world coordinate system. It also specifies the apparent impedance of the mobile base with respect to the object coordinate system without the influence to the motion of the object to the base. The control algorithm is implemented in Mobile Robot Helper(1) and experimental results illustrate the validity of the proposed algorithm.

本文言語English
ページ(範囲)1388-1394
ページ数7
ジャーナルNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
70
5
DOI
出版ステータスPublished - 2004 5
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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