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.
|ジャーナル||Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2002 4|
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