TY - GEN
T1 - Motion control of passive mobile robot with multiple casters based on feasible braking force and moment
AU - Saida, Masao
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2010/12/1
Y1 - 2010/12/1
N2 - We introduce a passive mobile robot called C-PRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity.
AB - We introduce a passive mobile robot called C-PRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity.
UR - http://www.scopus.com/inward/record.url?scp=78651517567&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651517567&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650940
DO - 10.1109/IROS.2010.5650940
M3 - Conference contribution
AN - SCOPUS:78651517567
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3130
EP - 3137
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -