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- Publisher Website: 10.1109/ROBOT.2000.844097
- Scopus: eid_2-s2.0-0033706995
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Conference Paper: Distributed robot helpers handling a single object in cooperation with a human
| Title | Distributed robot helpers handling a single object in cooperation with a human |
|---|---|
| Authors | |
| Issue Date | 2000 |
| Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2000, v. 1, p. 458-463 How to Cite? |
| Abstract | In this paper, we propose distributed robot helpers, referred to as Dr Helpers and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The Dr Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled as if it has a caster-like mechanism. The adaptive dual caster action is proposed to improve the maneuverability of the system. Multiple Dr Helpers could transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using multiple Dr Helpers will illustrate the validity of the proposed control system. |
| Persistent Identifier | http://hdl.handle.net/10722/302697 |
| ISSN | 2020 SCImago Journal Rankings: 0.915 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:25Z | - |
| dc.date.available | 2021-09-07T08:42:25Z | - |
| dc.date.issued | 2000 | - |
| dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2000, v. 1, p. 458-463 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302697 | - |
| dc.description.abstract | In this paper, we propose distributed robot helpers, referred to as Dr Helpers and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The Dr Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled as if it has a caster-like mechanism. The adaptive dual caster action is proposed to improve the maneuverability of the system. Multiple Dr Helpers could transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using multiple Dr Helpers will illustrate the validity of the proposed control system. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.title | Distributed robot helpers handling a single object in cooperation with a human | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBOT.2000.844097 | - |
| dc.identifier.scopus | eid_2-s2.0-0033706995 | - |
| dc.identifier.volume | 1 | - |
| dc.identifier.spage | 458 | - |
| dc.identifier.epage | 463 | - |