1P1-O05 ポーターロボットにおける速度ベクトルを利用した人追従制御(作業移動ロボット)

概要

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This study addresses the human following control of a porter robot in order to support the carrying some heavy package. This paper was proposed the following control method by using several ultrasonic sensors and adopting the inverse kinematics of a wheeled skid-steering mobile robot with the velocity vector. Application example of the porter robot, an asphalt pavement repair support robot was applied this proposed method. The repair operation of an asphalt pavement was performed the limited space, hence, it was necessary to consider a limitation on movement of robot. The experimental results demonstrated that human following characteristic of the robot was satisfactorily, and the proposed method was the effectiveness, even if the situation with a limitation on movement.
一般社団法人日本機械学会の論文
2011-05-26