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- Publisher Website: 10.1080/01691864.2012.689728
- Scopus: eid_2-s2.0-84865676704
- WOS: WOS:000307933900004
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Article: Motion control of caster-type passive mobile robot with servo brakes
Title | Motion control of caster-type passive mobile robot with servo brakes |
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Authors | |
Keywords | passive robotics passive mobile robot caster human-robot interaction brake control |
Issue Date | 2012 |
Citation | Advanced Robotics, 2012, v. 26, n. 11-12, p. 1271-1290 How to Cite? |
Abstract | In this paper, we introduce a passive mobile robot called prototype Caster-Type Passive Robot Porter (C-PRP), which is developed on the basis of a concept of passive robotics. This mobile robot consists of two casters with servo brakes and one passive rigid wheel. Prototype C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. We derive the feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. This paper especially focuses on a fundamental motion control algorithm based on the feasible braking force/moment. We realize the path tracking function and the collision avoidance function as examples by applying the proposed algorithm to prototype C-PRP. These functions are implemented to prototype C-PRP actually, and experimental results confirm its validity. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan. |
Persistent Identifier | http://hdl.handle.net/10722/303035 |
ISSN | 2023 Impact Factor: 1.4 2023 SCImago Journal Rankings: 0.605 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Saida, Masao | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:43:04Z | - |
dc.date.available | 2021-09-07T08:43:04Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | Advanced Robotics, 2012, v. 26, n. 11-12, p. 1271-1290 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.uri | http://hdl.handle.net/10722/303035 | - |
dc.description.abstract | In this paper, we introduce a passive mobile robot called prototype Caster-Type Passive Robot Porter (C-PRP), which is developed on the basis of a concept of passive robotics. This mobile robot consists of two casters with servo brakes and one passive rigid wheel. Prototype C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. We derive the feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. This paper especially focuses on a fundamental motion control algorithm based on the feasible braking force/moment. We realize the path tracking function and the collision avoidance function as examples by applying the proposed algorithm to prototype C-PRP. These functions are implemented to prototype C-PRP actually, and experimental results confirm its validity. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan. | - |
dc.language | eng | - |
dc.relation.ispartof | Advanced Robotics | - |
dc.subject | passive robotics | - |
dc.subject | passive mobile robot | - |
dc.subject | caster | - |
dc.subject | human-robot interaction | - |
dc.subject | brake control | - |
dc.title | Motion control of caster-type passive mobile robot with servo brakes | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1080/01691864.2012.689728 | - |
dc.identifier.scopus | eid_2-s2.0-84865676704 | - |
dc.identifier.volume | 26 | - |
dc.identifier.issue | 11-12 | - |
dc.identifier.spage | 1271 | - |
dc.identifier.epage | 1290 | - |
dc.identifier.eissn | 1568-5535 | - |
dc.identifier.isi | WOS:000307933900004 | - |