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- Publisher Website: 10.1109/ROBOT.2001.933078
- Scopus: eid_2-s2.0-0034868716
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Conference Paper: Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors
| Title | Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors |
|---|---|
| Authors | |
| Issue Date | 2001 |
| Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2001, v. 3, p. 3004-3009 How to Cite? |
| Abstract | In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm. |
| Persistent Identifier | http://hdl.handle.net/10722/303027 |
| ISSN | 2020 SCImago Journal Rankings: 0.915 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kume, Y. | - |
| dc.contributor.author | Hirata, Y. | - |
| dc.contributor.author | Kosuge, K. | - |
| dc.contributor.author | Asama, H. | - |
| dc.contributor.author | Kaetsu, H. | - |
| dc.contributor.author | Kawabata, K. | - |
| dc.date.accessioned | 2021-09-07T08:43:03Z | - |
| dc.date.available | 2021-09-07T08:43:03Z | - |
| dc.date.issued | 2001 | - |
| dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2001, v. 3, p. 3004-3009 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/303027 | - |
| dc.description.abstract | In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.title | Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBOT.2001.933078 | - |
| dc.identifier.scopus | eid_2-s2.0-0034868716 | - |
| dc.identifier.volume | 3 | - |
| dc.identifier.spage | 3004 | - |
| dc.identifier.epage | 3009 | - |