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We introduce a passive mobile robot called CPRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot...
A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible...
In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. This paper especially focuses on a motion control algorithm of multiple passive mobile robots for handling a single object in cooperation with a human. By controlling each passive mobile...
In this paper, we propose a new motion control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In general, for handling the object, robots grasp it rigidity and a human operator applies an intentional force/moment to it. However, when the robot is operated by a human who does not have enough knowledge about robots, he/she may apply his/her intentional...
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