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The car transportation system, which termed as iCART (intelligent cooperative autonomous robot transporters), is developed for handling the car in the narrow space, substituting the parking and unmanning the transportation of cars. iCART is composed of two robots and these robots transport the car in coordination based on a leader-follower type distributed motion control algorithm. To avoid damaging...
This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and moments caused by a passengerpsilas motion, we use a 6-axis force/torque sensor placed under the passengerpsilas seat. When small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When large external force over a predetermined threshold...
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