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- Publisher Website: 10.1109/IROS.2010.5650940
- Scopus: eid_2-s2.0-78651517567
- WOS: WOS:000287672000129
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Conference Paper: Motion control of passive mobile robot with multiple casters based on feasible braking force and moment
| Title | Motion control of passive mobile robot with multiple casters based on feasible braking force and moment |
|---|---|
| Authors | |
| Issue Date | 2010 |
| Citation | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, p. 3130-3137 How to Cite? |
| Abstract | We introduce a passive mobile robot called C-PRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity. ©2010 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302859 |
| ISI Accession Number ID |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Saida, Masao | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:43Z | - |
| dc.date.available | 2021-09-07T08:42:43Z | - |
| dc.date.issued | 2010 | - |
| dc.identifier.citation | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, p. 3130-3137 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302859 | - |
| dc.description.abstract | We introduce a passive mobile robot called C-PRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity. ©2010 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings | - |
| dc.title | Motion control of passive mobile robot with multiple casters based on feasible braking force and moment | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.2010.5650940 | - |
| dc.identifier.scopus | eid_2-s2.0-78651517567 | - |
| dc.identifier.spage | 3130 | - |
| dc.identifier.epage | 3137 | - |
| dc.identifier.isi | WOS:000287672000129 | - |