Distributed robot helpers handling a single object in cooperation with a human

In this paper, we propose distributed robot helpers (DR helpers) and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The DR helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled as if it has a caster-like mechanism. The adaptive dual caster action is proposed to improve the maneuverability of the system. Multiple DR helpers could transport a single object in cooperation with a human based on the operator´s intentional force/moment. Experiments using multiple DR helpers will illustrate the validity of the proposed control system