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- Publisher Website: 10.1109/IROS.1998.724788
- Scopus: eid_2-s2.0-0032316917
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Conference Paper: Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor
| Title | Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor |
|---|---|
| Authors | |
| Issue Date | 1998 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 1998, v. 3, p. 1419-1424 How to Cite? |
| Abstract | In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture. |
| Persistent Identifier | http://hdl.handle.net/10722/302690 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Oosumi, Tomohiro | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Asama, Hajime | - |
| dc.contributor.author | Kaetsu, Hayato | - |
| dc.contributor.author | Kawabata, Kuniaki | - |
| dc.date.accessioned | 2021-09-07T08:42:24Z | - |
| dc.date.available | 2021-09-07T08:42:24Z | - |
| dc.date.issued | 1998 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 1998, v. 3, p. 1419-1424 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302690 | - |
| dc.description.abstract | In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple robots in coordination is implemented in each mobile robot and stable handling of an object is realized by multiple mobile robots with the body force sensor. Experimental results illustrate the validity of the proposed architecture. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.1998.724788 | - |
| dc.identifier.scopus | eid_2-s2.0-0032316917 | - |
| dc.identifier.volume | 3 | - |
| dc.identifier.spage | 1419 | - |
| dc.identifier.epage | 1424 | - |