Adaptive Mode-switching From Autonomous Driving Mode to Manual Operation Mode of Mobile Robot Based on Body Sway

Abstract

Transportation flexibility in manufacturing factories can be improved by introducing a function that allows the operator to physically interact with autonomous mobile robots (AMRs.) In our previous study, a manual operation mode was implemented with a sensorless power-assist scheme according to impedance control based on the touching force of the operator on a stationary AMR. In this paper, we propose a mode-switching algorithm for an AMR that switches from autonomous navigation to manual operation. Control-mode switching is achieved by detecting the body sway caused by the touching force of the operator. The experimental results demonstrate that the control mode can be successfully switched adaptively based on the intention of the operator, without any additional sensors.