人と双腕型移動ロボット"M_R Helper"による物体の協調搬送(機械力学,計測,自動制御)

概要

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In this paper, we propose a mobile robot helper and its motion control algorithm for handling an object in cooperation with a human. First, we introduce a prototype of the mobile robot helper, "MR Helper", which consists of two manipulators and an omni-directional mobile base. We then propose a control algorithm for handling an object in cooperation with a human. The control algorithm specifies the apparent dynamics of the manipulated object so that the human could handle the manipulated object together with the robot. Load sharing by "MR Helper" and a human is also realized by introducing a lifting-up/down system. The control algorithm is experimentally applied to the "MR Helper", and the experimental results illustrate the validity of the proposed control algorithms.
2003-09-25