Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

Y. Hirata; Y. Kume; Zhi-Dong Wang; K. Kosuge

doi:10.1109/RISSP.2003.1285542

Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

Y. Hirata
, Y. Kume
, Zhi-Dong Wang
, K. Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results. © 2003 IEEE.

Original language	English
Title of host publication	Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
Publisher	IEEE
Pages	19-24
Volume	2003-October
DOIs	https://doi.org/10.1109/RISSP.2003.1285542
Publication status	Published - 2003
Externally published	Yes
Event	IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 - Changsha, Hunan, China Duration: 8 Oct 2003 → 13 Oct 2003

Conference

Conference	IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
Place	China
City	Changsha, Hunan
Period	8/10/03 → 13/10/03

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Funding

This project has been partially supported by Grant-in-Aid for Scientific Research of Japan Society for the Promotion of Science(No. A-2-12305028).

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10.1109/RISSP.2003.1285542

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@inproceedings{0003784fd577446e9ba4ad4c53932351,

title = "Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster",

abstract = "In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results. {\textcopyright} 2003 IEEE.",

author = "Y. Hirata and Y. Kume and Zhi-Dong Wang and K. Kosuge",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 ; Conference date: 08-10-2003 Through 13-10-2003",

year = "2003",

doi = "10.1109/RISSP.2003.1285542",

language = "English",

volume = "2003-October",

pages = "19--24",

booktitle = "Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003",

publisher = "IEEE",

address = "United States",

}

Hirata, Y, Kume, Y, Wang, Z-D & Kosuge, K 2003, Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster. in Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003. vol. 2003-October, 1285542, IEEE, pp. 19-24, IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003, Changsha, Hunan, China, 8/10/03. https://doi.org/10.1109/RISSP.2003.1285542

Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster. / Hirata, Y.; Kume, Y.; Wang, Zhi-Dong et al.
Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003. Vol. 2003-October IEEE, 2003. p. 19-24 1285542.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

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AU - Hirata, Y.

AU - Kume, Y.

AU - Wang, Zhi-Dong

AU - Kosuge, K.

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2003

Y1 - 2003

N2 - In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results. © 2003 IEEE.

AB - In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results. © 2003 IEEE.

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BT - Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003

PB - IEEE

T2 - IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003

Y2 - 8 October 2003 through 13 October 2003

ER -

Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

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