Cooperative behavior of a mechanically unstable mobile robot for object transportation

Naoji Shiroma*, Osamu Matsumoto, Kazuo Tani

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)965-973
Number of pages9
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Issue number4
Publication statusPublished - 1999 Dec
Externally publishedYes


  • Cooperative behavior
  • Cooperative transportation
  • Force control
  • Mechatronics and robotics
  • Moving robot
  • Observer
  • Stable standing
  • Wheeled inverted pendulum

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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