Transporting an object by a passive mobile robot with servo brakes in cooperation with a human

Yasuhisa Hirata, Zhidong Wang, Kenta Fukaya, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)


In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter) to realize transportation of an object in cooperation with human, which is developed based on a concept of passive robotics. PRP consists of three omni-directional wheels with servo brakes and a controller. It can manipulate an object by controlling an external force/moment applied by a human based on the control of the servo brakes. We consider the characteristics of the servo brakes and control the brake torque of each wheel based on the brake force/moment constraint so that several motion functions of PRP are realized based on the applied force. This allows PRP to track a path which includes motion perpendicular to the pushing direction of the human without using servo motors. The impedance-based motion control is also realized with respect to the perpendicular to the pushing direction. These functions are implemented on PRP experimentally, and the experimental results illustrate the validity of PRP and its control method.

Original languageEnglish
Pages (from-to)387-404
Number of pages18
JournalAdvanced Robotics
Issue number4
Publication statusPublished - 2009 Mar 1


  • Brake control
  • Human-robot interaction
  • Object handling
  • Passive Mobile robot
  • Passive robotics


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