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Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human

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Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

In this paper, we propose a concept of 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 proposed control algorithm could be applied to Dr Helpers more than three, even if each Dr Helper has a slippage between its wheels and the ground. The proposed decentralized control algorithm is experimentally applied to three Dr Helpers for illustrating the validity of the proposed algorithm.

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References

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Author information

Authors and Affiliations

  1. Department of Machine Intelligence and Systems Engineering, Tohoku University, Aoba-yama01, Sendai, 980-8579, Japan

    Yasuhisa Hirata & Kazuhiro Kosuge

  2. Biochemical Systems Laboratory, The Institute of Physical and Chemical Research, RIKEN, Hirosawa 2-1, Wako, Saitama, 351-0198, Japan

    Hajime Asama, Hayato Kaetsu & Kuniaki Kawabata

Authors
  1. Yasuhisa Hirata
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  2. Kazuhiro Kosuge
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  3. Hajime Asama
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  4. Hayato Kaetsu
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  5. Kuniaki Kawabata
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

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© 2001 Springer-Verlag Berlin Heidelberg

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Hirata, Y., Kosuge, K., Asama, H., Kaetsu, H., Kawabata, K. (2001). Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_32

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  • DOI: https://doi.org/10.1007/3-540-45118-8_32

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

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