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In this paper, we propose a method to estimate the geometrical relationships between servo-brake-controlled caster units arbitrarily located on a moving base. The method utilizes only the velocity information of each caster unit and recursively estimates the pose of the caster units by the extended Kalman filter. In the state estimation problem, the estimation performance depends on the quality of...
This article describes the concept of a novel car transportation system including two mobile robots with a lift mechanism for single wheel. The system lifts only two drive wheels of a front-wheel-drive vehicle or a rear-wheel-drive vehicle, and transports them. However, the system has nonholonomic constraints because all wheels of a vehicle are not lifted by the system. This article also describes...
This paper proposes a new car transportation system, iCART II (intelligent Cooperative Autonomous Robot Transporters - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than the half of the conventional robot used in iCART (intelligent Cooperative Autonomous Robot Transporters). In general, it is very difficult...
We introduce passive mobile robots consisting of various wheels; omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots can realize several functions, such as path tracking, gravity compensation on a slope, and collision avoidance function, by controlling only the servo brakes. They employ passive dynamics with respect to the force applied by a human. In this...
In this paper, the control algorithm of a female type dance partner robot called PDR was introduced to achieve dance between the robot and a male dancer with physical interaction. PDR is a passive type mobile robot and developed based on the concept of passive robotics. Firstly, the characteristics of servo brake were analyzed, according to the kinematic model and control constraint condition, the...
This paper proposes a distributed motion control algorithm of multiple passive mobile robots for handling an object in cooperation with a human. The driving force of the passive mobile robot is an actual force applied by the human and the servo brakes attached to the wheels control its motion. Different from the active-type robot with servo motors, the passive robot has the control limitation based...
A Dance Partner Robot, PBDR (Partner Ball Room Dance Robot), dances a waltz as a female dancer together with a human male dancer. The waltz, a ball room dance, is usually performed by a male dancer and a female dancer, and consists of a certain number of steps, and transition of the steps. The dance is lead by the male dancer based on the transition rule of the dance. The female dance partner estimates...
The main purpose of this paper is to realize an effective human-robot coordination with physical interaction. A dance partner robot has been proposed as a platform for it. To realize the effective human-robot coordination, recognizing human intention would be one of the key issues. This paper focuses on an estimation method for dance steps, which estimates a next dance step intended by a human. In...
This paper reports collective behaviors of multirobot system with simple dynamics and interactions. The model for collective motion is described by fundamental kinetics and the dynamics of the heading which each element has as a degree of freedom. Firstly, we shows the system based on this model realizes various types of behavior according to the set of parameters in the model, which resembles to...
We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot used for human-robot cooperation. In this method, we represent the robots' body by using elastic elements referred to as "RoBE (representation of body by elastic elements)". The self-collision avoidance could be realized based on a virtual reaction force generated by the contacts...
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