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- Publisher Website: 10.1299/kikaic.70.1388
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Article: オブジェクトインピーダンスに基づく人と双腕型移動ロボットによる物体の協調ハンドリング
| Title | オブジェクトインピーダンスに基づく人と双腕型移動ロボットによる物体の協調ハンドリング Object-impedance-based cooperative handling of object by mobile robot helper and human |
|---|---|
| Authors | |
| Keywords | Impedance Control Human Robot Cooperation Mobile Manipulator Robot |
| Issue Date | 2004 |
| Citation | 日本機械学会論文集Ｃ編, 2004, v. 70, n. 693, p. 1388-1394 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2004, v. 70, n. 693, p. 1388-1394 How to Cite? |
| Abstract | In this paper, we propose a motion control algorithm of a mobile robot with dual arms for handling an object in cooperation with a human. The algorithm specifies the apparent impedance of a manipulated object with respect to a world coordinate system. It also specifies the apparent impedance of the mobile base with respect to the object coordinate system without the influence to the motion of the object to the base. The control algorithm is implemented in Mobile Robot Helper(1) and experimental results illustrate the validity of the proposed algorithm. |
| Persistent Identifier | http://hdl.handle.net/10722/302746 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Suda, Rio | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Kakuya, Hiromu | - |
| dc.date.accessioned | 2021-09-07T08:42:30Z | - |
| dc.date.available | 2021-09-07T08:42:30Z | - |
| dc.date.issued | 2004 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 2004, v. 70, n. 693, p. 1388-1394 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2004, v. 70, n. 693, p. 1388-1394 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302746 | - |
| dc.description.abstract | In this paper, we propose a motion control algorithm of a mobile robot with dual arms for handling an object in cooperation with a human. The algorithm specifies the apparent impedance of a manipulated object with respect to a world coordinate system. It also specifies the apparent impedance of the mobile base with respect to the object coordinate system without the influence to the motion of the object to the base. The control algorithm is implemented in Mobile Robot Helper(1) and experimental results illustrate the validity of the proposed algorithm. | - |
| 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 | Impedance Control | - |
| dc.subject | Human Robot Cooperation | - |
| dc.subject | Mobile Manipulator | - |
| dc.subject | Robot | - |
| dc.title | オブジェクトインピーダンスに基づく人と双腕型移動ロボットによる物体の協調ハンドリング | - |
| dc.title | Object-impedance-based cooperative handling of object by mobile robot helper and human | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.70.1388 | - |
| dc.identifier.scopus | eid_2-s2.0-3242767571 | - |
| dc.identifier.volume | 70 | - |
| dc.identifier.issue | 693 | - |
| dc.identifier.spage | 1388 | - |
| dc.identifier.epage | 1394 | - |