ICRA'09 Paper Abstract


Paper FrB13.2

Hirata, Yasuhisa (Tohoku University), Ojima, Yosuke (Tohoku University), Kosuge, Kazuhiro (Tohoku University)

Coordinated Motion Control of Multiple Passive Object Handling Robots Based on Environment Information

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems - II" (FrB13), Friday, May 15, 2009, 10:50−11:10, Room: 505

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Distributed Robot Systems, Intelligent Transportation Systems, Motion Control


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. In this paper, we especially focus 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 based on the virtual force, we realize collision avoidance function and path following function of the object to improve the maneuverability for the human operator. We propose a method how we generate the virtual force to realize collision avoidance function and path following function of an object. The proposed algorithms applied to two PRPs experimentally, and we verify those algorithms via experiments.



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