Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human

Yasuhisa Hirata; Youhei Kume; Zhi Dong Wang; Kazuhiro Kosuge

Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human

Yasuhisa Hirata, Youhei Kume, Zhi Dong Wang, Kazuhiro Kosuge

ENG - Robotics

Tohoku University

Research output: Contribution to journal › Conference article › peer-review

28 Citations (Scopus)

Abstract

In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.

Original language	English
Pages (from-to)	938-943
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
Publication status	Published - 2003
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 2003 Sept 14 → 2003 Sept 19

Cite this

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title = "Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human",

abstract = "In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.",

author = "Yasuhisa Hirata and Youhei Kume and Wang, {Zhi Dong} and Kazuhiro Kosuge",

year = "2003",

language = "English",

volume = "1",

pages = "938--943",

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

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2003 IEEE International Conference on Robotics and Automation ; Conference date: 14-09-2003 Through 19-09-2003",

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Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human. / Hirata, Yasuhisa; Kume, Youhei; Wang, Zhi Dong et al.
In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 1, 2003, p. 938-943.

Research output: Contribution to journal › Conference article › peer-review

TY - JOUR

T1 - Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human

AU - Hirata, Yasuhisa

AU - Kume, Youhei

AU - Wang, Zhi Dong

AU - Kosuge, Kazuhiro

PY - 2003

Y1 - 2003

N2 - In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.

AB - In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.

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M3 - Conference article

AN - SCOPUS:0344444721

SN - 1050-4729

VL - 1

SP - 938

EP - 943

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human

Abstract

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