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- Publisher Website: 10.1109/ICSMC.2001.972015
- Scopus: eid_2-s2.0-0035722879
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Conference Paper: Control algorithm of dual arms mobile robot for cooperative works with human
Title | Control algorithm of dual arms mobile robot for cooperative works with human |
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Authors | |
Keywords | Impedance Control Mobile manipulator Cooperation Robot |
Issue Date | 2001 |
Citation | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2001, v. 5, p. 3223-3228 How to Cite? |
Abstract | In this paper, we propose a motion control algorithm for the mobile robot with dual arms, "Mobile Robot Helper (MR Helper)", for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object flame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results illustrate the validity of the proposed algorithm. |
Persistent Identifier | http://hdl.handle.net/10722/302707 |
ISSN |
DC Field | Value | Language |
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dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Kakuya, Hiromu | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.date.accessioned | 2021-09-07T08:42:26Z | - |
dc.date.available | 2021-09-07T08:42:26Z | - |
dc.date.issued | 2001 | - |
dc.identifier.citation | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2001, v. 5, p. 3223-3228 | - |
dc.identifier.issn | 0884-3627 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302707 | - |
dc.description.abstract | In this paper, we propose a motion control algorithm for the mobile robot with dual arms, "Mobile Robot Helper (MR Helper)", for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object flame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results illustrate the validity of the proposed algorithm. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics | - |
dc.subject | Impedance Control | - |
dc.subject | Mobile manipulator | - |
dc.subject | Cooperation | - |
dc.subject | Robot | - |
dc.title | Control algorithm of dual arms mobile robot for cooperative works with human | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICSMC.2001.972015 | - |
dc.identifier.scopus | eid_2-s2.0-0035722879 | - |
dc.identifier.volume | 5 | - |
dc.identifier.spage | 3223 | - |
dc.identifier.epage | 3228 | - |