TY - GEN
T1 - A car transportation system grasping two drive wheels
AU - Yonezawa, Naoaki
AU - Kashiwazaki, Koshi
AU - Kosuge, Kazuhiro
AU - Hirata, Yasuhisa
AU - Sugahara, Yusuke
AU - Endo, Mitsuru
AU - Kanbayashi, Takashi
AU - Suzuki, Koki
AU - Murakami, Kazunori
AU - Nakamura, Kenichi
PY - 2012/1/1
Y1 - 2012/1/1
N2 - This article describes the concept of a novel car transportation system including two mobile robots with a lift mechanism for single wheel. The system lifts only two drive wheels of a front-wheel-drive vehicle or a rear-wheel-drive vehicle, and transports them. However, the system has nonholonomic constraints because all wheels of a vehicle are not lifted by the system. This article also describes a motion control method and a vehicle's wheelbase estimate algorithm for the proposed system in order to maneuver the vehicle. The motion control method is based on control theory for a three-wheeled cycle system. On the other hand, the vehicle's wheelbase estimate algorithm includes impedance control, and the system estimates the vehicle's wheelbase from constraint forces during transporting the vehicle. Finally, two experiments show that the proposed system can maneuver the vehicle.
AB - This article describes the concept of a novel car transportation system including two mobile robots with a lift mechanism for single wheel. The system lifts only two drive wheels of a front-wheel-drive vehicle or a rear-wheel-drive vehicle, and transports them. However, the system has nonholonomic constraints because all wheels of a vehicle are not lifted by the system. This article also describes a motion control method and a vehicle's wheelbase estimate algorithm for the proposed system in order to maneuver the vehicle. The motion control method is based on control theory for a three-wheeled cycle system. On the other hand, the vehicle's wheelbase estimate algorithm includes impedance control, and the system estimates the vehicle's wheelbase from constraint forces during transporting the vehicle. Finally, two experiments show that the proposed system can maneuver the vehicle.
UR - http://www.scopus.com/inward/record.url?scp=84864487691&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2012.6225291
DO - 10.1109/ICRA.2012.6225291
M3 - Conference contribution
AN - SCOPUS:84864487691
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4086
EP - 4091
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -