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 its attitude. A mechanically unstable robot, such as a wheeled inverted pendulum, needs to control the force and follow the object as standing stably against the force in an integrated manner. We call this a cooperative behavior. To realize this behavior of a wheeled inverted pendulum, we built control systems to estimate the external force and maintain standing and to exert a specified force. We applied them to a wheeled inverted pendulum. Experiments were conducted of cooperative transportation between a human and the robot. In the future, we aim to realize cooperative transportation by two wheeled inverted pendulums using the control systems.
| Original language | English |
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| Pages | 396-401 |
| Number of pages | 6 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn Duration: 1996 Nov 4 → 1996 Nov 8 |
Other
| Other | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) |
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| City | Osaka, Jpn |
| Period | 96/11/4 → 96/11/8 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications