By Topic

Object-impedance-based cooperative handling of object by mobile robot helper and human using visual and force information

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Suda, R. ; Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan ; Kosuge, K. ; Kakuya, H.

In this paper, we propose a new control system for a mobile robot helper, referred to as MR Helper, which could handle an object in cooperation with a human. The proposed system consists of cooperative manipulation with a human and autonomous transportation by itself using visual and force information. In this system, the object is controlled so that it has an apparent dynamics relative to the global coordinate system, and the system is controlled based on the object impedance. As a result, in the cooperative manipulation, a motion of the object is not influenced by a motion of the mobile base. In the autonomous transportation, the robot can follow the human's path without collision with obstacle which are around the mobile base. The proposed control system is experimentally implemented in MR Helper and experimental results illustrate the validity of the system.

Published in:

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on  (Volume:1 )

Date of Conference:

20-24 July 2003