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- Publisher Website: 10.1299/kikaic.69.2308
- Scopus: eid_2-s2.0-0344961298
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Article: 人と双腕型移動ロボット"MR Helper"による物体の協調搬送
| Title | 人と双腕型移動ロボット"MR Helper"による物体の協調搬送 Cooperative transportation of object by mobile robot helper and human |
|---|---|
| Authors | |
| Keywords | Human-robot cooperation Mobile manipulator Robot |
| Issue Date | 2003 |
| Citation | 日本機械学会論文集Ｃ編, 2003, v. 69, n. 685, p. 2308-2314 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 685, p. 2308-2314 How to Cite? |
| Abstract | In this paper, we propose a mobile robot helper and its motion control algorithm for handling an object in cooperation with a human. First, we introduce a prototype of the mobile robot helper, "Mr Helper", which consists of two manipulators and an omni-directional mobile base. We then propose a control algorithm for handling an object in cooperation with a human. The control algorithm specifies the apparent dynamics of the manipulated object so that the human could handle the manipulated object together with the robot. Load sharing by "Mr Helper" and a human is also realized by introducing a lifting-up/down system. The control algorithm is experimentally applied to the "Mr Helper", and the experimental results illustrate the validity of the proposed control algorithms. |
| Persistent Identifier | http://hdl.handle.net/10722/302720 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Suda, Rio | - |
| dc.contributor.author | Kazamura, Norihide | - |
| dc.contributor.author | Sato, Manabu | - |
| dc.contributor.author | Kakuya, Hiromu | - |
| dc.date.accessioned | 2021-09-07T08:42:27Z | - |
| dc.date.available | 2021-09-07T08:42:27Z | - |
| dc.date.issued | 2003 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 2003, v. 69, n. 685, p. 2308-2314 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 685, p. 2308-2314 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302720 | - |
| dc.description.abstract | In this paper, we propose a mobile robot helper and its motion control algorithm for handling an object in cooperation with a human. First, we introduce a prototype of the mobile robot helper, "Mr Helper", which consists of two manipulators and an omni-directional mobile base. We then propose a control algorithm for handling an object in cooperation with a human. The control algorithm specifies the apparent dynamics of the manipulated object so that the human could handle the manipulated object together with the robot. Load sharing by "Mr Helper" and a human is also realized by introducing a lifting-up/down system. The control algorithm is experimentally applied to the "Mr Helper", and the experimental results illustrate the validity of the proposed control algorithms. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Human-robot cooperation | - |
| dc.subject | Mobile manipulator | - |
| dc.subject | Robot | - |
| dc.title | 人と双腕型移動ロボット"MR Helper"による物体の協調搬送 | - |
| dc.title | Cooperative transportation of object by mobile robot helper and human | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.69.2308 | - |
| dc.identifier.scopus | eid_2-s2.0-0344961298 | - |
| dc.identifier.volume | 69 | - |
| dc.identifier.issue | 685 | - |
| dc.identifier.spage | 2308 | - |
| dc.identifier.epage | 2314 | - |