Manipulator/vehicle system for man-robot cooperation

Toshio Fukuda; Yoshio Fujisawa; Kazuhiro Kosuge; Fumihito Arai; Eiji Muro; Haruo Hoshino; Takasi Miyazaki; Kazuhiko Otubo; Kazuo Uehara

doi:10.1109/robot.1992.220332

Manipulator/vehicle system for man-robot cooperation

Toshio Fukuda
, Yoshio Fujisawa
, Kazuhiro Kosuge
, Fumihito Arai
, Eiji Muro
, Haruo Hoshino
, Takasi Miyazaki
, Kazuhiko Otubo
, Kazuo Uehara

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

33 Citations (Scopus)

Abstract

The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. Different from the manipulator avoiding tumbling is a very serious problem for the manipulator/vehicle system not fixed on the floor/ground tightly. Therefore, the authors consider an algorithm for controlling both the tip position of the end effector and the center of gravity of the manipulator and the payload being carried by the manipulator. This control algorithm was applied to the manipulator with the vehicle for man-robot cooperation. The trajectory of the manipulator is given by a human operator and the center of gravity is set so as not to tumble previously. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Publ by IEEE
Pages	74-79
Volume	1
ISBN (Print)	0818627204
DOIs	https://doi.org/10.1109/robot.1992.220332
Publication status	Published - Apr 1992
Externally published	Yes
Event	Proceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr Duration: 12 May 1992 → 14 May 1992

Conference

Conference	Proceedings 1992 IEEE International Conference on Robotics and Automation
City	Nice, Fr
Period	12/05/92 → 14/05/92

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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@inproceedings{74f6a29b3989445595905a9c7cbd61cd,

title = "Manipulator/vehicle system for man-robot cooperation",

abstract = "The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. Different from the manipulator avoiding tumbling is a very serious problem for the manipulator/vehicle system not fixed on the floor/ground tightly. Therefore, the authors consider an algorithm for controlling both the tip position of the end effector and the center of gravity of the manipulator and the payload being carried by the manipulator. This control algorithm was applied to the manipulator with the vehicle for man-robot cooperation. The trajectory of the manipulator is given by a human operator and the center of gravity is set so as not to tumble previously. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system.",

author = "Toshio Fukuda and Yoshio Fujisawa and Kazuhiro Kosuge and Fumihito Arai and Eiji Muro and Haruo Hoshino and Takasi Miyazaki and Kazuhiko Otubo and Kazuo Uehara",

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 1992 IEEE International Conference on Robotics and Automation ; Conference date: 12-05-1992 Through 14-05-1992",

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doi = "10.1109/robot.1992.220332",

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booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

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Fukuda, T, Fujisawa, Y, Kosuge, K, Arai, F, Muro, E, Hoshino, H, Miyazaki, T, Otubo, K & Uehara, K 1992, Manipulator/vehicle system for man-robot cooperation. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, Publ by IEEE, pp. 74-79, Proceedings 1992 IEEE International Conference on Robotics and Automation, Nice, Fr, 12/05/92. https://doi.org/10.1109/robot.1992.220332

Manipulator/vehicle system for man-robot cooperation. / Fukuda, Toshio; Fujisawa, Yoshio; Kosuge, Kazuhiro et al.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 Publ by IEEE, 1992. p. 74-79.

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

TY - GEN

T1 - Manipulator/vehicle system for man-robot cooperation

AU - Fukuda, Toshio

AU - Fujisawa, Yoshio

AU - Kosuge, Kazuhiro

AU - Arai, Fumihito

AU - Muro, Eiji

AU - Hoshino, Haruo

AU - Miyazaki, Takasi

AU - Otubo, Kazuhiko

AU - Uehara, Kazuo

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 - 1992/4

Y1 - 1992/4

N2 - The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. Different from the manipulator avoiding tumbling is a very serious problem for the manipulator/vehicle system not fixed on the floor/ground tightly. Therefore, the authors consider an algorithm for controlling both the tip position of the end effector and the center of gravity of the manipulator and the payload being carried by the manipulator. This control algorithm was applied to the manipulator with the vehicle for man-robot cooperation. The trajectory of the manipulator is given by a human operator and the center of gravity is set so as not to tumble previously. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system.

AB - The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. Different from the manipulator avoiding tumbling is a very serious problem for the manipulator/vehicle system not fixed on the floor/ground tightly. Therefore, the authors consider an algorithm for controlling both the tip position of the end effector and the center of gravity of the manipulator and the payload being carried by the manipulator. This control algorithm was applied to the manipulator with the vehicle for man-robot cooperation. The trajectory of the manipulator is given by a human operator and the center of gravity is set so as not to tumble previously. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system.

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M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0818627204

VL - 1

SP - 74

EP - 79

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Publ by IEEE

T2 - Proceedings 1992 IEEE International Conference on Robotics and Automation

Y2 - 12 May 1992 through 14 May 1992

ER -

Manipulator/vehicle system for man-robot cooperation

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