Abstract
In this paper, we propose distributed robot helpers, referred to as Dr Helpers and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The Dr Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled as if it has a caster-like mechanism. The adaptive dual caster action is proposed to improve the maneuverability of the system. Multiple Dr Helpers could transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using multiple Dr Helpers will illustrate the validity of the proposed control system.
| Original language | English |
|---|---|
| Pages (from-to) | 458-463 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 2000 |
| Externally published | Yes |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 24 Apr 2000 → 28 Apr 2000 |
Bibliographical note
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