Manipulation of a large object by multiple DR Helpers in cooperation with a human

Author

Hirata, Yasuhisa ; Takagi, Takeo ; Kosuge, Kazuhiro ; Asama, Hajime ; Kaetsu, Hayato ; Kawabata, Kuniaki

Author_Institution

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

Volume

1

fYear

2001

fDate

2001

Firstpage

126

Abstract

We propose a decentralized control algorithm of multiple robot helpers, called DR Helpers, which have been developed for manipulating a large object in cooperation with humans. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object, and manipulation of a large or long object in cooperation with a human can be realized easily. The proposed control algorithm is experimentally applied to two DR Helpers and experimental results illustrate the validity of the proposed control algorithm

Keywords

decentralised control; man-machine systems; mobile robots; robot dynamics; DR Helpers; decentralized control; dynamics; mobile robots; object manipulation; robot helpers; Chemical engineering; Force control; Humans; Laboratories; Machine intelligence; Manipulator dynamics; Medical robotics; Mobile robots; Robotics and automation; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.973347

Filename

973347