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Conference Paper: Map-based control of distributed robot helpers for transporting an object in cooperation with a human

TitleMap-based control of distributed robot helpers for transporting an object in cooperation with a human
Authors
Hirata, YasuhisaTakagi, TakeoKosuge, KazuhiroAsama, HajimeKaetsu, HayatoKawabata, Kuniaki
Issue Date2001
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2001, v. 3, p. 3010-3015 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBOT.2001.933079
AbstractIn this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to the omni-directional mobile robots referred to as DR Helpers. Experimental results illustrate the validity of the proposed control algorithm.
Persistent Identifierhttp://hdl.handle.net/10722/302702
ISSN
1050-4729
2023 SCImago Journal Rankings: 1.620

 

DC FieldValueLanguage
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorTakagi, Takeo-
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorAsama, Hajime-
dc.contributor.authorKaetsu, Hayato-
dc.contributor.authorKawabata, Kuniaki-
dc.date.accessioned2021-09-07T08:42:25Z-
dc.date.available2021-09-07T08:42:25Z-
dc.date.issued2001-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2001, v. 3, p. 3010-3015-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302702-
dc.description.abstractIn this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to the omni-directional mobile robots referred to as DR Helpers. Experimental results illustrate the validity of the proposed control algorithm.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleMap-based control of distributed robot helpers for transporting an object in cooperation with a human-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2001.933079-
dc.identifier.scopuseid_2-s2.0-0034861388-
dc.identifier.volume3-
dc.identifier.spage3010-
dc.identifier.epage3015-

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