書誌事項
- タイトル別名
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- Transportation of an Object by Multiple Distributed Robot Helpers in Cooperation with a Human.
- ニンゲン ト フクスウ ノ ブンサンガタ ロボットヘルパー ト ノ キョウチョウ ニ ヨル タンイツ ブッタイ ノ ハンソウ
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抄録
In this paper, we propose a concept of a human-robots cooperation system referred to as distributed robot helpers and a decentralized motion control algorithm of multiple mobile robot helpers for handling a single object in cooperation with a human/humans. The prototype system of distributed robot helpers referred to as DR Helper consists of an omni-directional mobile base, a six axis body force sensor, a folk lift, and an onboard controller. Each system is controlled by a kind of a damping motion control law using its own controller. Multiple DR Helpers transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using two DR Helpers will illustrate the concept and show the validity of the proposed control algorithm.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 68 (668), 1207-1214, 2002
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681332891904
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- NII論文ID
- 130004234291
- 110002378464
- 10012460924
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- HANDLE
- 10097/52925
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- NDL書誌ID
- 6148056
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可