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.
Conference Paper: Homotopy-based controller for physical human-robot interaction[Show abstract] [Hide abstract]
ABSTRACT: This paper presents a model that describes physical interactions during dyadic collaborative tasks. This model is based on a homotopy between two controllers and defines the behavior of each partner as the result of a time-varying balance between two roles: the leader role, which consists in acting according to a plan without considering the other partner's intentions; and the follower role, which conversely consists in acting only based on the intentions of the other partner. The continuous switch between these two attitudes is described by two variables whose time-profile can define a task signature. After a brief presentation of the model, two illustrative scenarios are detailed to give more insights on how the homotopy parameter can be used to describe different situations that can occur in collaborative tasks between two partners. We especially focus on how some recent results in the human-human interaction can be encompassed by our proposed model. Experiments are performed to assess the usability of the model as a control scheme to implement advanced collaborative behaviors on a robotic platform.Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on; 11/2009
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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.01/2010;
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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.01/2010;