Development of omni-directional mobile base with servo brakes for passive dance partner robot

Yasuhisa Hirata; Yoshinori Koike; Zhao Liu; Kazuhiro Kosuge

doi:10.1109/ROBIO.2009.4913082

Development of omni-directional mobile base with servo brakes for passive dance partner robot

Yasuhisa Hirata, Yoshinori Koike, Zhao Liu, Kazuhiro Kosuge

ENG - Robotics

Tohoku University

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

5 Citations (Scopus)

Abstract

In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Publisher	IEEE Computer Society
Pages	676-681
Number of pages	6
ISBN (Print)	9781424426799
DOIs	https://doi.org/10.1109/ROBIO.2009.4913082
Publication status	Published - 2009
Event	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand Duration: 2009 Feb 21 → 2009 Feb 26

Publication series

Name	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Conference

Conference	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Country/Territory	Thailand
City	Bangkok
Period	09/2/21 → 09/2/26

Keywords

Brake control
Omni-directional mobile base
Original motion characteristics
Passive dance partner robot

Access to Document

10.1109/ROBIO.2009.4913082

Cite this

Hirata, Y., Koike, Y., Liu, Z., & Kosuge, K. (2009). Development of omni-directional mobile base with servo brakes for passive dance partner robot. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 (pp. 676-681). Article 4913082 (2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2009.4913082

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title = "Development of omni-directional mobile base with servo brakes for passive dance partner robot",

abstract = "In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.",

keywords = "Brake control, Omni-directional mobile base, Original motion characteristics, Passive dance partner robot",

author = "Yasuhisa Hirata and Yoshinori Koike and Zhao Liu and Kazuhiro Kosuge",

year = "2009",

doi = "10.1109/ROBIO.2009.4913082",

language = "English",

isbn = "9781424426799",

series = "2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008",

publisher = "IEEE Computer Society",

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booktitle = "2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008",

address = "United States",

note = "2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 ; Conference date: 21-02-2009 Through 26-02-2009",

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Hirata, Y, Koike, Y, Liu, Z & Kosuge, K 2009, Development of omni-directional mobile base with servo brakes for passive dance partner robot. in 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008., 4913082, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, IEEE Computer Society, pp. 676-681, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, Bangkok, Thailand, 09/2/21. https://doi.org/10.1109/ROBIO.2009.4913082

Development of omni-directional mobile base with servo brakes for passive dance partner robot. / Hirata, Yasuhisa; Koike, Yoshinori; Liu, Zhao et al.
2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. IEEE Computer Society, 2009. p. 676-681 4913082 (2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008).

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

TY - GEN

T1 - Development of omni-directional mobile base with servo brakes for passive dance partner robot

AU - Hirata, Yasuhisa

AU - Koike, Yoshinori

AU - Liu, Zhao

AU - Kosuge, Kazuhiro

PY - 2009

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N2 - In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.

AB - In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.

KW - Brake control

KW - Omni-directional mobile base

KW - Original motion characteristics

KW - Passive dance partner robot

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Development of omni-directional mobile base with servo brakes for passive dance partner robot

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