TY - GEN
T1 - Impedance-based motion control of passive-type robot porter for handling an object
AU - Wang, Zhi Dong
AU - Fukaya, Kenta
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2006
Y1 - 2006
N2 - A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept.
AB - A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept.
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U2 - 10.1109/ROBIO.2006.340293
DO - 10.1109/ROBIO.2006.340293
M3 - Conference contribution
AN - SCOPUS:46249107976
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 709
EP - 714
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -