File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/ROBIO.2006.340293
- Scopus: eid_2-s2.0-46249107976
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Impedance-based motion control of passive-type robot porter for handling an object
| Title | Impedance-based motion control of passive-type robot porter for handling an object |
|---|---|
| Authors | |
| Issue Date | 2006 |
| Citation | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, 2006, p. 709-714 How to Cite? |
| Abstract | A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept. ©2006 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302805 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Wang, Zhi Dong | - |
| dc.contributor.author | Fukaya, Kenta | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:37Z | - |
| dc.date.available | 2021-09-07T08:42:37Z | - |
| dc.date.issued | 2006 | - |
| dc.identifier.citation | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, 2006, p. 709-714 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302805 | - |
| dc.description.abstract | A concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator is proposed in this paper. We developed a prototype of passive type robot referred to as RT Porter, which consists of mobile frame equipped three omnidirectional wheels with MR Brakes, and on-board computer system. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to move in a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors. Experimental results are shown to illustrate the validity of the proposed concept. ©2006 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 | - |
| dc.title | Impedance-based motion control of passive-type robot porter for handling an object | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBIO.2006.340293 | - |
| dc.identifier.scopus | eid_2-s2.0-46249107976 | - |
| dc.identifier.spage | 709 | - |
| dc.identifier.epage | 714 | - |