Coordinated motion control of multiple passive object handling robots based on environment information

Yasuhisa Hirata; Yosuke Ojima; Kazuhiro Kosuge

doi:10.1109/ROBOT.2009.5152612

Coordinated motion control of multiple passive object handling robots based on environment information

Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

ENG - Robotics

Tohoku University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. In this paper, we especially focus on a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize collision avoidance function and path following function of the object to improve the maneuverability for the human operator. The proposed algorithms applied to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	2338-2343
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152612
Publication status	Published - 2009
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 2009 May 12 → 2009 May 17

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	09/5/12 → 09/5/17

Access to Document

10.1109/ROBOT.2009.5152612

Cite this

Hirata, Y., Ojima, Y., & Kosuge, K. (2009). Coordinated motion control of multiple passive object handling robots based on environment information. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 2338-2343). Article 5152612 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152612

@inproceedings{91b2241f493d430a8c91c07e1a8ed0e8,

title = "Coordinated motion control of multiple passive object handling robots based on environment information",

abstract = "In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. In this paper, we especially focus on a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize collision avoidance function and path following function of the object to improve the maneuverability for the human operator. The proposed algorithms applied to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.",

author = "Yasuhisa Hirata and Yosuke Ojima and Kazuhiro Kosuge",

year = "2009",

doi = "10.1109/ROBOT.2009.5152612",

language = "English",

isbn = "9781424427895",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2338--2343",

booktitle = "2009 IEEE International Conference on Robotics and Automation, ICRA '09",

note = "2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

}

Hirata, Y, Ojima, Y & Kosuge, K 2009, Coordinated motion control of multiple passive object handling robots based on environment information. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152612, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2338-2343, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 09/5/12. https://doi.org/10.1109/ROBOT.2009.5152612

Coordinated motion control of multiple passive object handling robots based on environment information. / Hirata, Yasuhisa; Ojima, Yosuke; Kosuge, Kazuhiro.
2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 2338-2343 5152612 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Coordinated motion control of multiple passive object handling robots based on environment information

AU - Hirata, Yasuhisa

AU - Ojima, Yosuke

AU - Kosuge, Kazuhiro

PY - 2009

Y1 - 2009

N2 - In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. In this paper, we especially focus on a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize collision avoidance function and path following function of the object to improve the maneuverability for the human operator. The proposed algorithms applied to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.

AB - In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. In this paper, we especially focus on a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize collision avoidance function and path following function of the object to improve the maneuverability for the human operator. The proposed algorithms applied to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.

UR - http://www.scopus.com/inward/record.url?scp=70350350889&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70350350889&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2009.5152612

DO - 10.1109/ROBOT.2009.5152612

M3 - Conference contribution

AN - SCOPUS:70350350889

SN - 9781424427895

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2338

EP - 2343

BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

Y2 - 12 May 2009 through 17 May 2009

ER -

Coordinated motion control of multiple passive object handling robots based on environment information

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this