Variable motion characteristics control of an object by multiple passive mobile robots in cooperation with a human
ABSTRACT In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. This paper especially focuses on a motion control algorithm of multiple passive mobile robots for handling a single object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize several kinds of motion characteristics of the object to improve the maneuverability for the human operator. By changing the apparent dynamics of the representative point of the object and its position, we realize an anisotropic apparent motion characteristic of the handling object and the obstacle avoidance function as examples. The proposed motion control algorithms are implemented to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.
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ABSTRACT: A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible brake torque set was obtained, which is a subset of whole brake torque, this makes control of passive type robot more complicated than general mobile robots. When the desired force is within this set, the brake torque for each wheel can be derived with static equation, otherwise, the assistance force applied by male dancer is employed. Finally, non-time based path tracking control was proposed for dance step tracking. The motion control algorithm was verified by two typical dance steps, and experimental results demonstrated the validity.
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ABSTRACT: In this paper, the control algorithm of a female type dance partner robot called PDR was introduced to achieve dance between the robot and a male dancer with physical interaction. PDR is a passive type mobile robot and developed based on the concept of passive robotics. Firstly, the characteristics of servo brake were analyzed, according to the kinematic model and control constraint condition, the motion was divided into 8 states. Then the set of feasible brake torque was analyzed, which is a subset of whole brake torque, this makes the control of passive type robot more complicated than general mobile robots. When the desired force is within this set, the brake torque for each wheel can be derived by static equation, otherwise, the assistance force applied by male dancer is employed. Considering the passivity of PDR, non-time based path tracking control was proposed for dance step tracking, and a fast orthogonal projection algorithm was proposed to achieve non-time based control. Experimental results illustrated the validity of the proposed concept.
Conference Paper: Bilateral Human-Robot Interaction with Physical Contact[Show abstract] [Hide abstract]
ABSTRACT: In this paper it is presented a control strategy for bilateral human-robot interaction with contact, recognizing human intent to control movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the force and direction desired by the human to guide the robot through unstructured environments. Robot dynamics are included in order to improve the interaction performance. Stability analysis of the proposed control system is proved by using Lyapunov theory. Real experiments of the human-robot interaction show the performance of the proposed controllers.International Conference on Advanced Robotics; 11/2013