TY - GEN
T1 - Control passive mobile robots for object transportation braking torque analysis and motion control
AU - Wang, Zhi Dong
AU - Fukaya, Kenta
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
N1 - Funding Information:
We are grateful to V. Braun and M. Shifman for useful discussions. This work is supported by the DFG Sonderforschungsbereich SFB/TR(“Computational Particle Physics”) and by the German Ministry for Education and Research (BMBF).
PY - 2007
Y1 - 2007
N2 - In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as Passive Robot Porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept.
AB - In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as Passive Robot Porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept.
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U2 - 10.1109/ROBOT.2007.363907
DO - 10.1109/ROBOT.2007.363907
M3 - Conference contribution
AN - SCOPUS:36348956672
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2874
EP - 2879
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -