TY - GEN
T1 - Impedance-based motion control of passive-type robot porter for handling an object
AU - Wang, ZhiDong
AU - Fukaya, Kenta
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
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 - 2006
Y1 - 2006
N2 - A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept. ©2006 IEEE.
AB - A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept. ©2006 IEEE.
UR - https://www.scopus.com/pages/publications/46249107976
UR - https://www.scopus.com/pages/publications/46249107976#tab=impact
U2 - 10.1109/ROBIO.2006.340293
DO - 10.1109/ROBIO.2006.340293
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 709
EP - 714
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
PB - IEEE Computer Society
T2 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO 2007
Y2 - 17 December 2006 through 20 December 2006
ER -