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Conference Paper: Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics

TitleHandling of an object by multiple mobile manipulators in coordination based on caster-like dynamics
Authors
Hirata, YasuhisaKume, YouheiSawada, TakuroWang, Zhi DongKosuge, Kazuhiro
Issue Date2004
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2004, v. 2004, n. 1, p. 807-812 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBOT.2004.1307248
AbstractIn this paper, we propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.
Persistent Identifierhttp://hdl.handle.net/10722/302743
ISSN
1050-4729
2020 SCImago Journal Rankings: 0.915

 

DC FieldValueLanguage
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorKume, Youhei-
dc.contributor.authorSawada, Takuro-
dc.contributor.authorWang, Zhi Dong-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:42:30Z-
dc.date.available2021-09-07T08:42:30Z-
dc.date.issued2004-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2004, v. 2004, n. 1, p. 807-812-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302743-
dc.description.abstractIn this paper, we propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleHandling of an object by multiple mobile manipulators in coordination based on caster-like dynamics-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2004.1307248-
dc.identifier.scopuseid_2-s2.0-3042572782-
dc.identifier.volume2004-
dc.identifier.issue1-
dc.identifier.spage807-
dc.identifier.epage812-

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