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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...
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...
In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The...
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