Transportation of an object by multiple distributed robot helpers in cooperation with a human

Yasuhisa Hirata, Takuro Hatsukari, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

研究成果: Article査読

4 被引用数 (Scopus)

抄録

In this paper, we propose a concept of a human robots cooperation system referred to as distributed robot helpers and a decentralized motion control algorithm of multiple mobile robot helpers for handling a single object in cooperation with a human/humans. The prototype system of distributed robot helpers referred to as DR Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each system is controlled by a kind of a damping motion control law using its own controller. Multiple DR Helpers transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using two DR Helpers will illustrate the concept and show the validity of the proposed control algorithm.

本文言語English
ページ(範囲)1207-1214
ページ数8
ジャーナルNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
68
4
DOI
出版ステータスPublished - 2002 4

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

フィンガープリント

「Transportation of an object by multiple distributed robot helpers in cooperation with a human」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル