Mobile robot helper

Author

Kosuge, Kazuhiro ; Sato, Manabu ; Kazamura, Norihide

Author_Institution

Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

583

Abstract

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 omnidirectional mobile base. We then propose a control algorithm of the MR Helper 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 the 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

Keywords

manipulator dynamics; materials handling; mobile robots; motion control; MR Helper; dynamics; load sharing; man machine systems; manipulators; materials handling; mobile robot; motion control; omnidirectional mobile base; Automatic control; Collaboration; Communication system control; Control systems; Humans; Impedance; Medical robotics; Mobile robots; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844116

Filename

844116