TY - GEN
T1 - Object-impedance-based cooperative handling of object by mobile robot helper and human using visual and force information
AU - Suda, R.
AU - Kosuge, K.
AU - Kakuya, H.
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 a new control system for a mobile robot helper, referred to as M/sub R/ Helper, which could handle an object in cooperation with a human. The proposed system consists of cooperative manipulation with a human and autonomous transportation by itself using visual and force information. In this system, the object is controlled so that it has an apparent dynamics relative to the global coordinate system, and the system is controlled based on the object impedance. As a result, in the cooperative manipulation, a motion of the object is not influenced by a motion of the mobile base. In the autonomous transportation, the robot can follow the human's path without collision with obstacle which are around the mobile base. The proposed control system is experimentally implemented in M/sub R/ Helper and experimental results illustrate the validity of the system. © 2003 IEEE.
AB - In this paper, we propose a new control system for a mobile robot helper, referred to as M/sub R/ Helper, which could handle an object in cooperation with a human. The proposed system consists of cooperative manipulation with a human and autonomous transportation by itself using visual and force information. In this system, the object is controlled so that it has an apparent dynamics relative to the global coordinate system, and the system is controlled based on the object impedance. As a result, in the cooperative manipulation, a motion of the object is not influenced by a motion of the mobile base. In the autonomous transportation, the robot can follow the human's path without collision with obstacle which are around the mobile base. The proposed control system is experimentally implemented in M/sub R/ Helper and experimental results illustrate the validity of the system. © 2003 IEEE.
KW - Automatic control
KW - Control systems
KW - Humans
KW - Impedance
KW - Manipulators
KW - Medical robotics
KW - Mobile robots
KW - Robot kinematics
KW - Robotics and automation
KW - Service robots
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-76249102408&origin=recordpage
U2 - 10.1109/AIM.2003.1225161
DO - 10.1109/AIM.2003.1225161
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0780377591
VL - 1
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 592
EP - 597
BT - Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PB - IEEE
T2 - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Y2 - 20 July 2003 through 24 July 2003
ER -