NDLI: Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control

Content Provider	IEEE Xplore Digital Library
Author	ZhiDong Wang Fukaya, K. Hirata, Y. Kosuge, K.
Copyright Year	2007
Description	Author affiliation: Dept. of Adv. Robotics, Chiba Inst. of Technol. (ZhiDong Wang)
Abstract	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 of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2874
Ending Page	2879
File Size	1200077
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363907
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Torque control Robot control Mobile robots Transportation Robot kinematics Humans Impedance Wheels Prototypes
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Design and Control of A Passive Mobile Robot System for Object Transportation

Impedance-based Motion Control of Passive-type Robot Porter for Handling an Object

Car transportation system grasping two drive wheels

Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

Dynamic modelling and control design of a class of omnidirectional mobile robots

Modeling and motion stability analysis of skid-steered mobile robots

A motion control of two-wheels driven mobile manipulator for human-robot cooperative transportation

Wheel-ground interaction modelling and torque distribution for a redundant mobile robot

Control of a mobile robot with passive multiple trailers

Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control

Similar Documents

Design and Control of A Passive Mobile Robot System for Object Transportation

Impedance-based Motion Control of Passive-type Robot Porter for Handling an Object

Car transportation system grasping two drive wheels

Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

Dynamic modelling and control design of a class of omnidirectional mobile robots

Modeling and motion stability analysis of skid-steered mobile robots

A motion control of two-wheels driven mobile manipulator for human-robot cooperative transportation

Wheel-ground interaction modelling and torque distribution for a redundant mobile robot

Control of a mobile robot with passive multiple trailers

Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control