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


Ontology type: schema:Chapter     


Chapter Info

DATE

2001

AUTHORS

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

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. More... »

PAGES

313-322

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/3-540-45118-8_32

DOI

http://dx.doi.org/10.1007/3-540-45118-8_32

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1040783999


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