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Conference Paper: Collision-tolerant control for hybrid joint based arm of nonholonomic mobile manipulator in human-robot symbiotic environments

TitleCollision-tolerant control for hybrid joint based arm of nonholonomic mobile manipulator in human-robot symbiotic environments
Authors
KeywordsHuman-robot symbiotic environment
Recovery control
Impact force
Switching joint
Safe mobile manipulator
Issue Date2005
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 4037-4043 How to Cite?
AbstractA human-symbiotic safe mobile manipulator with nonholonomic constraint is described to realize human safety, impact force absorbing and task fulfillment. The robot consists of an arm covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with human, the arising impulse force is attenuated effectively by the physical model formed with the hybrid joint and the soft material. Owing to the displacement movement of the link when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. Simulation and experiment results confirm that the proposed physical model is suitable for robot working in the human-robot symbiotic environment and the control method are useful for robot's task fulfillment. ©2005 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212899
ISSN

 

DC FieldValueLanguage
dc.contributor.authorLi, Zhijun-
dc.contributor.authorMing, Aiguo-
dc.contributor.authorXi, Ning-
dc.contributor.authorXie, Zhaoxian-
dc.contributor.authorGu, Jiangong-
dc.contributor.authorShimojo, Makoto-
dc.date.accessioned2015-07-28T04:05:22Z-
dc.date.available2015-07-28T04:05:22Z-
dc.date.issued2005-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 4037-4043-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212899-
dc.description.abstractA human-symbiotic safe mobile manipulator with nonholonomic constraint is described to realize human safety, impact force absorbing and task fulfillment. The robot consists of an arm covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with human, the arising impulse force is attenuated effectively by the physical model formed with the hybrid joint and the soft material. Owing to the displacement movement of the link when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. Simulation and experiment results confirm that the proposed physical model is suitable for robot working in the human-robot symbiotic environment and the control method are useful for robot's task fulfillment. ©2005 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.subjectHuman-robot symbiotic environment-
dc.subjectRecovery control-
dc.subjectImpact force-
dc.subjectSwitching joint-
dc.subjectSafe mobile manipulator-
dc.titleCollision-tolerant control for hybrid joint based arm of nonholonomic mobile manipulator in human-robot symbiotic environments-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2005.1570739-
dc.identifier.scopuseid_2-s2.0-33846163752-
dc.identifier.volume2005-
dc.identifier.spage4037-
dc.identifier.epage4043-

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