書誌事項
- タイトル別名
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- Transportation of an Object by Multiple Passive Mobile Robots in Cooperation with a Human
- フクスウ ノ パッシブガタ イドウ ロボット ト ニンゲン ト ノ キョウチョウ ニ ヨル タンイツ ブッタイ ノ ハンソウ
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抄録
In this paper, we propose a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. The passive mobile robot called “O-PRP(Omni-directional type Passive Robot Porter)” has passive dynamics with respect to an applied force and its motion is controlled based on the servo brakes. In the proposed algorithm, each O-PRP is controlled as if it has an apparent dynamics, and the motion characteristics of the object supported by the multiple O-PRPs is changed for improving the maneuverability. The proposed algorithm is applied to two O-PRPs, and experimental results illustrate its validity.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 49 (3), 353-361, 2013
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204503483648
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- NII論文ID
- 10031160125
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 024574622
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可