TY - GEN
T1 - Cooperative object transportation by multiple humanoid robots
AU - Wu, Meng Hung
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2011/12/1
Y1 - 2011/12/1
N2 - This research aims to create a framework of transporting an object by multiple humanoid robots. e.g. In this work, a leader-follower type cooperation method is used. In the leader-follower method, the leader robot is directly operated by a human operator, and the follower robot is programmed to follow the leader robot based on the force sensor information measured on its hands. This force is due to relative displacement of the robots and could induce unstable condition. The force leads to falling down of the robots in the worst case. We propose a system of easing the interactive force while moving in this paper.
AB - This research aims to create a framework of transporting an object by multiple humanoid robots. e.g. In this work, a leader-follower type cooperation method is used. In the leader-follower method, the leader robot is directly operated by a human operator, and the follower robot is programmed to follow the leader robot based on the force sensor information measured on its hands. This force is due to relative displacement of the robots and could induce unstable condition. The force leads to falling down of the robots in the worst case. We propose a system of easing the interactive force while moving in this paper.
UR - http://www.scopus.com/inward/record.url?scp=84857567298&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84857567298&partnerID=8YFLogxK
U2 - 10.1109/SII.2011.6147547
DO - 10.1109/SII.2011.6147547
M3 - Conference contribution
AN - SCOPUS:84857567298
SN - 9781457715235
T3 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
SP - 779
EP - 784
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Y2 - 20 December 2011 through 22 December 2011
ER -