Conference Paper

Variable motion characteristics control of an object by multiple passive mobile robots in cooperation with a human

Dept. of Bioeng. & Robot., Tohoku Univ., Sendai
DOI: 10.1109/ROBOT.2008.4543390 Conference: 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA
Source: DBLP


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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    • "In particular, as proved in [17], under the assumption that the environment is passive, the interaction stability is guaranteed by imposing a passive behavior to the robot. The passivity assumption has been used in many works, such as [18], [19], [20], [21], [22], [23]. "
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