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Conference Paper: Control algorithm of dual arms mobile robot for cooperative works with human

TitleControl algorithm of dual arms mobile robot for cooperative works with human
Authors
Kosuge, KazuhiroKakuya, HiromuHirata, Yasuhisa
KeywordsImpedance Control
Mobile manipulator
Cooperation
Robot
Issue Date2001
Citation
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2001, v. 5, p. 3223-3228 How to Cite?
DOI: http://dx.doi.org/10.1109/ICSMC.2001.972015
AbstractIn this paper, we propose a motion control algorithm for the mobile robot with dual arms, "Mobile Robot Helper (MR Helper)", for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object flame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results illustrate the validity of the proposed algorithm.
Persistent Identifierhttp://hdl.handle.net/10722/302707
ISSN
0884-3627

 

DC FieldValueLanguage
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorKakuya, Hiromu-
dc.contributor.authorHirata, Yasuhisa-
dc.date.accessioned2021-09-07T08:42:26Z-
dc.date.available2021-09-07T08:42:26Z-
dc.date.issued2001-
dc.identifier.citationProceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2001, v. 5, p. 3223-3228-
dc.identifier.issn0884-3627-
dc.identifier.urihttp://hdl.handle.net/10722/302707-
dc.description.abstractIn this paper, we propose a motion control algorithm for the mobile robot with dual arms, "Mobile Robot Helper (MR Helper)", for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object flame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results illustrate the validity of the proposed algorithm.-
dc.languageeng-
dc.relation.ispartofProceedings of the IEEE International Conference on Systems, Man and Cybernetics-
dc.subjectImpedance Control-
dc.subjectMobile manipulator-
dc.subjectCooperation-
dc.subjectRobot-
dc.titleControl algorithm of dual arms mobile robot for cooperative works with human-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICSMC.2001.972015-
dc.identifier.scopuseid_2-s2.0-0035722879-
dc.identifier.volume5-
dc.identifier.spage3223-
dc.identifier.epage3228-

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