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In this paper, we introduce omni-directional object handling robot system developed based on passive robotics and propose its motion control algorithm for realizing variable motion characteristics of the handling object. Passive object handling robot called PRP (Passive Robot Porter) is controlled by servo brakes attached to the wheels of the robot. By designing the control algorithms of the servo...
In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object...
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...
We address a decentralized control method for object transportation in coordination by a leader-follower type multiple robot system. The proposed system consists of a pushing leader, a human being or a robot without grasping mechanisms, and multiple follower robots. During the object transportation, only the leader has desired trajectory, and follower robots estimate the trajectory of the leader based...
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