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- Publisher Website: 10.1109/ICMA.2006.257430
- Scopus: eid_2-s2.0-34247214513
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Conference Paper: Design and control of a passive mobile robot system for object transportation
| Title | Design and control of a passive mobile robot system for object transportation |
|---|---|
| Authors | |
| Issue Date | 2006 |
| Citation | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, 2006, v. 2006, p. 31-36 How to Cite? |
| Abstract | In this paper, we propose a concept of a passive type robot for transporting a single object in coordination with a human operator. We developed a prototype of passive type robot referred to as RT Porter, which consists of support frame, three omni-directional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint and this allows RT Porter to track a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept. © 2006 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302776 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Fukaya, Kenta | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Wangt, Zhidong | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:33Z | - |
| dc.date.available | 2021-09-07T08:42:33Z | - |
| dc.date.issued | 2006 | - |
| dc.identifier.citation | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, 2006, v. 2006, p. 31-36 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302776 | - |
| dc.description.abstract | In this paper, we propose a concept of a passive type robot for transporting a single object in coordination with a human operator. We developed a prototype of passive type robot referred to as RT Porter, which consists of support frame, three omni-directional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint and this allows RT Porter to track a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept. © 2006 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 | - |
| dc.title | Design and control of a passive mobile robot system for object transportation | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ICMA.2006.257430 | - |
| dc.identifier.scopus | eid_2-s2.0-34247214513 | - |
| dc.identifier.volume | 2006 | - |
| dc.identifier.spage | 31 | - |
| dc.identifier.epage | 36 | - |