多个DR helper与人类合作对大型对象的操作

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.973347

Y. Hirata, T. Takagi, K. Kosuge, H. Asama, H. Kaetsu, K. Kawabata

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引用次数: 21

摘要

我们提出了一种多机器人助手的分散控制算法，称为DR助手，它是为与人类合作操纵大型物体而开发的。在该算法中，每个机器人都被控制，就好像它在附着在物体上的一个代表性点周围有一个类似脚轮的动力学，并且可以很容易地实现与人类合作对大型或长物体的操作。将所提出的控制算法应用于两台DR helper的实验中，实验结果验证了所提出控制算法的有效性。

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Manipulation of a large object by multiple DR Helpers in cooperation with a human

We propose a decentralized control algorithm of multiple robot helpers, called DR Helpers, which have been developed for manipulating a large object in cooperation with humans. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object, and manipulation of a large or long object in cooperation with a human can be realized easily. The proposed control algorithm is experimentally applied to two DR Helpers and experimental results illustrate the validity of the proposed control algorithm.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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