JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
Online ISSN : 1347-538X
Print ISSN : 1344-7653
ISSN-L : 1344-7653
Cooperative Behavior of a Mechanically Unstable Mobile Robot for Object Transportation
Naoji SHIROMAOsamu MATSUMOTOKazuo TANI
Author information
JOURNAL FREE ACCESS

1999 Volume 42 Issue 4 Pages 965-973

Details
Abstract
Cooperative transportation of an object by two or more mobile robots requires each robot to exert an appropriate force to support and move the object, to move along the object, and to maintain the robot's attitude stably. Studies of cooperative transportation by multiple robots so far have scarcely considered the stability of the robot's attitude influenced by the force from the object. To take part in cooperative transportation, a mechanically unstable robot, such as a wheeled inverted pendulum, needs to control the force and follow the object while standing stably against the force in an integrated manner. We call this "cooperative behavior". To realize this behavior of a mechanically unstable robot, we built a control system to estimate the external force, maintain standing, and exert a specified force. Experiments were conducted on cooperative transportation between a human and the robot.
Content from these authors
© The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top