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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...
In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating...
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...
This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
In this paper, we introduce a passive mobile robot with casters developed based on the concept of passive robotics. This mobile robot consists of two casters with servo brakes, one passive rigid wheel and a controller. We can manipulate the robot by controlling external force/moment applied by a human based on the control of the servo brakes attached to the casters. We consider the characteristics...
In this paper, we propose an intelligent cane developed based on passive robotics concept for supporting the elderly and the disabled persons who have difficulty walking. The intelligent passive cane (IP Cane) is controlled by servo brakes attached to the wheels and intrinsically safe for humans, because it cannot move unintentionally, i.e., it has no driving actuators. In addition, the IP cane provides...
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...
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. In this paper, we especially focus on a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. By controlling each passive mobile...
As aging progresses, fall accident of the person using the walker is an acute problem. It is necessary to know the situation of the userpsilas fall to prevent it. In this paper, we propose a method for estimating the userpsilas fall by modeling of the user in real time as a solid body link model, and pay attention to the center of gravity of the model. We also propose a method for controlling a passive...
In this paper, we propose a method for supporting a walking of a human by using wearable walking support system called wearable walking helper. In this method, the support moment for the knee joint of the user is calculated by the human model and a part of it is supported by the actuator of the wearable walking helper. In the conventional method we proposed so far, we only consider the stance phase...
This talk addresses issues relating to human-robot interaction based on our developments of robot helpers and dance partner robots. First, Mobile Robot Helper and Distributed Robot Helpers are introduced as assistive systems for handling an object in coordination with a human. These robots are controlled passively based on intentional force/moment applied to the object by its user. Through several...
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...
When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination...
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...
This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept. Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the...
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...
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...
We have developed a passive-type mobile robot based on the concept of the passive robotics. Different from the active-type robot with servo motors, the developed passive-type robot is controlled by using the servo brakes, in which its driving force is applied by a human operator. Therefore, the original motion characteristics of the robot with respect to the human handling force are very important...
A dance partner robot has been developed as an example of platforms for realizing the effective human-robot coordination with physical interactions. This robot could dance together with a human by estimating the next step intended by the human. If the robot would mistake the step estimation, the human-robot coordination could not be continued. In this paper, an error recovery method for step selections,...
In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as passive robot porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity...
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