TY - GEN
T1 - Variable motion characteristics control of an object by multiple passive mobile robots in cooperation with a human
AU - Hirata, Yasuhisa
AU - Ojima, Yosuke
AU - Kosuge, Kazuhiro
PY - 2008/9/18
Y1 - 2008/9/18
N2 - In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. This paper especially focuses on a motion control algorithm of multiple passive mobile robots for handling a single object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize several kinds of motion characteristics of the object to improve the maneuverability for the human operator. By changing the apparent dynamics of the representative point of the object and its position, we realize an anisotropic apparent motion characteristic of the handling object and the obstacle avoidance function as examples. The proposed motion control algorithms are implemented to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.
AB - In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. This paper especially focuses on a motion control algorithm of multiple passive mobile robots for handling a single object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize several kinds of motion characteristics of the object to improve the maneuverability for the human operator. By changing the apparent dynamics of the representative point of the object and its position, we realize an anisotropic apparent motion characteristic of the handling object and the obstacle avoidance function as examples. The proposed motion control algorithms are implemented to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.
UR - http://www.scopus.com/inward/record.url?scp=51649126834&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649126834&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543390
DO - 10.1109/ROBOT.2008.4543390
M3 - Conference contribution
AN - SCOPUS:51649126834
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1346
EP - 1351
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -