Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

Kazuhiro Kosuge; Tomohiro Oosumi; Yasuhisa Hirata; Hajime Asama; Hayato Kaetsu; Kuniaki Kawabata

doi:10.1109/iros.1998.724788

Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

Kazuhiro Kosuge
, Tomohiro Oosumi
, Yasuhisa Hirata
, Hajime Asama
, Hayato Kaetsu
, Kuniaki Kawabata

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

8 Citations (Scopus)

Abstract

In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture.

Original language	English
Title of host publication	Innovations in Theory, Practice and Applications
Publisher	IEEE
Pages	1419-1424
Volume	3
DOIs	https://doi.org/10.1109/iros.1998.724788
Publication status	Published - 1998
Externally published	Yes
Event	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: 13 Oct 1998 → 17 Oct 1998

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	3

Conference

Conference	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
City	Victoria, Can
Period	13/10/98 → 17/10/98

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].

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10.1109/iros.1998.724788

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Kosuge, K., Oosumi, T., Hirata, Y., Asama, H., Kaetsu, H., & Kawabata, K. (1998). Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor. In Innovations in Theory, Practice and Applications (Vol. 3, pp. 1419-1424). (IEEE International Conference on Intelligent Robots and Systems; Vol. 3). IEEE. https://doi.org/10.1109/iros.1998.724788

@inproceedings{dafe553629b1467c9fe03d597545d603,

title = "Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor",

abstract = "In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture.",

author = "Kazuhiro Kosuge and Tomohiro Oosumi and Yasuhisa Hirata and Hajime Asama and Hayato Kaetsu and Kuniaki Kawabata",

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].; Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) ; Conference date: 13-10-1998 Through 17-10-1998",

year = "1998",

doi = "10.1109/iros.1998.724788",

language = "English",

volume = "3",

series = "IEEE International Conference on Intelligent Robots and Systems",

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booktitle = "Innovations in Theory, Practice and Applications",

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}

Kosuge, K, Oosumi, T, Hirata, Y, Asama, H, Kaetsu, H & Kawabata, K 1998, Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor. in Innovations in Theory, Practice and Applications. vol. 3, IEEE International Conference on Intelligent Robots and Systems, vol. 3, IEEE, pp. 1419-1424, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, 13/10/98. https://doi.org/10.1109/iros.1998.724788

Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor. / Kosuge, Kazuhiro; Oosumi, Tomohiro; Hirata, Yasuhisa et al.
Innovations in Theory, Practice and Applications. Vol. 3 IEEE, 1998. p. 1419-1424 (IEEE International Conference on Intelligent Robots and Systems; Vol. 3).

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

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AU - Kosuge, Kazuhiro

AU - Oosumi, Tomohiro

AU - Hirata, Yasuhisa

AU - Asama, Hajime

AU - Kaetsu, Hayato

AU - Kawabata, Kuniaki

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 - 1998

Y1 - 1998

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AB - In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture.

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VL - 3

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Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

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