力覚情報による動作修正を用いた移動マニピュレータによる壁拭き動作制御

抄録

Mobile manipulation has several control problems such as grasping, pushing and wiping. In this paper, we present a wipe motion control of mobile manipulator which consists of nonholonomic mobile robot and 2-DOF manipulator using hybrid control of position and force. We obtain estimation of first-order approximation of force as a function of control input using actually observed information. To verify effectivity of the inplemented control method, we conducted an experiment of wipe motion control using the approximated linear function.