Abstract
In this paper, we propose a mobile robot helper and its motion control algorithm for handling an object in cooperation with a human. First, we introduce a prototype of the mobile robot helper, 'MR Helper', which consists of two manipulators and an omni-directional mobile base. We then propose a control algorithm of the MR Helper for handling an object in cooperation with a human. The control algorithm specifies the apparent dynamics of the manipulated object so that the human could handle the manipulated object together with the robot. Load sharing by the MR Helper and a human is also realized by introducing a lifting-up/down system. The control algorithm is experimentally applied to the 'MR Helper', and the experimental results illustrate the validity of the proposed control algorithms.
| Original language | English |
|---|---|
| Pages (from-to) | 583-588 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| Publication status | Published - 2000 Dec 3 |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 2000 Apr 24 → 2000 Apr 28 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering