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Article: 人間と複数の移動ロボットによる大型物体のハンドリング
| Title | 人間と複数の移動ロボットによる大型物体のハンドリング Handling of a large object by multiple mobile robots in cooperation with a human |
|---|---|
| Authors | |
| Keywords | Virtual Caster-Like Dynamics Handling Moving Robot Motion Control Robot Coordinated Motion Control |
| Issue Date | 2004 |
| Citation | 日本機械学会論文集Ｃ編, 2004, v. 70, n. 691, p. 759-765 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2004, v. 70, n. 691, p. 759-765 How to Cite? |
| Abstract | In this paper, we popose a decentralized control algorithm of multiple mobile robots which have been developed for manipulating a large or a long 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 the manipulation of the large or the long object is realized easily in cooperation wit a human. The proposed control algorithm is experimentally applied to two omni-directional mobile robots referred to as DR Helper and experimental results illustrate the validity of the proposed control algorithm. |
| Persistent Identifier | http://hdl.handle.net/10722/302741 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Asama, Hajime | - |
| dc.contributor.author | Kaetsu, Hayato | - |
| dc.contributor.author | Kawabata, Kuniaki | - |
| dc.date.accessioned | 2021-09-07T08:42:29Z | - |
| dc.date.available | 2021-09-07T08:42:29Z | - |
| dc.date.issued | 2004 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 2004, v. 70, n. 691, p. 759-765 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2004, v. 70, n. 691, p. 759-765 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302741 | - |
| dc.description.abstract | In this paper, we popose a decentralized control algorithm of multiple mobile robots which have been developed for manipulating a large or a long 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 the manipulation of the large or the long object is realized easily in cooperation wit a human. The proposed control algorithm is experimentally applied to two omni-directional mobile robots referred to as DR Helper and experimental results illustrate the validity of the proposed control algorithm. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Virtual Caster-Like Dynamics | - |
| dc.subject | Handling | - |
| dc.subject | Moving Robot | - |
| dc.subject | Motion Control | - |
| dc.subject | Robot | - |
| dc.subject | Coordinated Motion Control | - |
| dc.title | 人間と複数の移動ロボットによる大型物体のハンドリング | - |
| dc.title | Handling of a large object by multiple mobile robots in cooperation with a human | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.70.759 | - |
| dc.identifier.scopus | eid_2-s2.0-2942531071 | - |
| dc.identifier.volume | 70 | - |
| dc.identifier.issue | 691 | - |
| dc.identifier.spage | 759 | - |
| dc.identifier.epage | 765 | - |