TY - GEN
T1 - From human to pushing leader robot
T2 - Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004
AU - Wang, Zhi Dong
AU - Hirata, Yasuhisa
AU - Takano, Yugo
AU - Kosuge, Kazuhiro
PY - 2004
Y1 - 2004
N2 - We address a decentralized control method for object transportation in coordination by a leader-follower type multiple robot system. The proposed system consists of a pushing leader, a human being or a robot without grasping mechanisms, and multiple follower robots. During the object transportation, only the leader has desired trajectory, and follower robots estimate the trajectory of the leader based on force/moment from the object. In the proposed system with the pushing leader robot, imitating the system with human leader, a variable internal force is introduced to each robot's controller in decentralized style to let the follower's estimator work on not only the pushing but also the pulling case that the leader needs to slow down or stop the object. Finally, some experiment results are shown to illustrate the concept of the proposed algorithms.
AB - We address a decentralized control method for object transportation in coordination by a leader-follower type multiple robot system. The proposed system consists of a pushing leader, a human being or a robot without grasping mechanisms, and multiple follower robots. During the object transportation, only the leader has desired trajectory, and follower robots estimate the trajectory of the leader based on force/moment from the object. In the proposed system with the pushing leader robot, imitating the system with human leader, a variable internal force is introduced to each robot's controller in decentralized style to let the follower's estimator work on not only the pushing but also the pulling case that the leader needs to slow down or stop the object. Finally, some experiment results are shown to illustrate the concept of the proposed algorithms.
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M3 - Conference contribution
AN - SCOPUS:28344451780
SN - 0780386418
T3 - Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004
SP - 441
EP - 446
BT - Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004
Y2 - 22 August 2004 through 26 August 2004
ER -