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Conference Paper: Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information

TitleMotion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information
Authors
Hirata, YasuhisaTakagi, TakeoKosuge, KazuhiroAsama, HajimeKaetsu, HayatoKawabata, Kuniaki
Issue Date2002
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2002, v. 1, p. 995-1000 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBOT.2002.1013485
AbstractIn this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.
Persistent Identifierhttp://hdl.handle.net/10722/302708
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.accessioned2021-09-07T08:42:26Z-
dc.date.available2021-09-07T08:42:26Z-
dc.date.issued2002-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2002, v. 1, p. 995-1000-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302708-
dc.description.abstractIn this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleMotion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2002.1013485-
dc.identifier.scopuseid_2-s2.0-0036060736-
dc.identifier.volume1-
dc.identifier.spage995-
dc.identifier.epage1000-

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