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Conference Paper: Manipulation of a large object by multiple Dr helpers in cooperation with a human

TitleManipulation of a large object by multiple Dr helpers in cooperation with a human
Authors
Hirata, YasuhisaTakagi, TakeoKosuge, KazuhiroAsam, HajimeKaetsu, HayatoKawabata, Kuniaki
Issue Date2001
Citation
IEEE International Conference on Intelligent Robots and Systems, 2001, v. 1, p. 126-131 How to Cite?
DOI: http://dx.doi.org/10.1109/IROS.2001.973347
AbstractIn this paper, we propose a decentralized control algorithm of multiple Dr Helpers which have been developed for manipulating a large object in cooperation with a human. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object and manipulation of a large or a long object in cooperation with a human is realized easily. The proposed control algorithm is experimentally applied to two Dr Helpers and experimental results illustrate the validity of the proposed control algorithm.
Persistent Identifierhttp://hdl.handle.net/10722/302705

 

DC FieldValueLanguage
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorTakagi, Takeo-
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorAsam, Hajime-
dc.contributor.authorKaetsu, Hayato-
dc.contributor.authorKawabata, Kuniaki-
dc.date.accessioned2021-09-07T08:42:26Z-
dc.date.available2021-09-07T08:42:26Z-
dc.date.issued2001-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2001, v. 1, p. 126-131-
dc.identifier.urihttp://hdl.handle.net/10722/302705-
dc.description.abstractIn this paper, we propose a decentralized control algorithm of multiple Dr Helpers which have been developed for manipulating a large object in cooperation with a human. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object and manipulation of a large or a long object in cooperation with a human is realized easily. The proposed control algorithm is experimentally applied to two Dr Helpers and experimental results illustrate the validity of the proposed control algorithm.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleManipulation of a large object by multiple Dr helpers in cooperation with a human-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2001.973347-
dc.identifier.scopuseid_2-s2.0-0035560051-
dc.identifier.volume1-
dc.identifier.spage126-
dc.identifier.epage131-

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