DocumentCode
1740158
Title
Handling of object by mobile manipulator in cooperation with human using object trajectory following method
Author
Sato, Manabu ; Kosuge, Kazuhiro
Author_Institution
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Volume
1
fYear
2000
fDate
2000
Firstpage
541
Abstract
In this paper, we propose a motion control strategy for a mobile robot helper to handle a single object in cooperation with a human. The method, referred to as the object trajectory-following method, controls the motion of the mobile robot so as to track the trajectory of the object manipulated by the human. Experimental results using the “MR (Mobile Robot) Helper” illustrate the validity of the method
Keywords
manipulators; mobile robots; motion control; robot programming; tracking; MR Helper; human cooperation; mobile manipulator; mobile robot helper; motion control strategy; object handling; object trajectory-following method; trajectory tracking; Control systems; Force sensors; Humans; Impedance; Manipulators; Medical robotics; Mobile robots; Motion control; Robotics and automation; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.894660
Filename
894660
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