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Design and Control of A Passive Mobile Robot System for Object Transportation

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4 Author(s)
Fukaya, K. ; Syst. Robotics Lab., Tohoku Univ., Sendai ; Hirata, Y. ; Zhidong Wang ; Kosuge, K.

In this paper, we propose a concept of a passive type robot for transporting a single object in coordination with a human operator. We developed a prototype of passive type robot referred to as RT Porter, which consists of support frame, three omni-directional wheels with MR brakes, and onboard computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint and this allows RT Porter to track a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept

Published in:

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Date of Conference:

25-28 June 2006