Object-impedance-based cooperative handling of object by mobile robot helper and human using visual and force information

R. Suda, Kazuhiro Kosuge, H. Kakuya

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

In this paper, we propose a new control system for a mobile robot helper, referred to as M/sub R/ Helper, which could handle an object in cooperation with a human. The proposed system consists of cooperative manipulation with a human and autonomous transportation by itself using visual and force information. In this system, the object is controlled so that it has an apparent dynamics relative to the global coordinate system, and the system is controlled based on the object impedance. As a result, in the cooperative manipulation, a motion of the object is not influenced by a motion of the mobile base. In the autonomous transportation, the robot can follow the human's path without collision with obstacle which are around the mobile base. The proposed control system is experimentally implemented in M/sub R/ Helper and experimental results illustrate the validity of the system.

本文言語English
ホスト出版物のタイトルProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
出版社Institute of Electrical and Electronics Engineers Inc.
ページ592-597
ページ数6
1
ISBN(電子版)0780377591
DOI
出版ステータスPublished - 2003 1月 1
イベント2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
継続期間: 2003 7月 202003 7月 24

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
国/地域Japan
CityKobe
Period03/7/2003/7/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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