人間と複数の分散型ロボットヘルパーとの協調による単一物体の搬送(機械力学,計測,自動制御)

概要

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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 D_R 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 D_R Helpers transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using two D_R Helpers will illustrate the concept and show the validity of the proposed control algorithm.
2002-04-25