Transferring Control by Cooperation of Two Mobile Robots.

Ota, Jun; Buei, Yasuhiko; Arai, Tamio; Osumi, Hisashi; Suyama, Kiichi

doi:10.7210/jrsj.14.263

Cited by 27 publications

(4 citation statements)

References 6 publications

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“…Control can be achieved using leader-follower type control (Ota, J., 1996& Kosuge, K., 1996. In a leaderfollower type control is often used for the cooperative movement, it is essential that the follower robot acquires sufficient information by the motion of the leader robot.…”

Section: Leader-follower Type Controlmentioning

confidence: 99%

Cooperation of Humanoid Robots Using Teleoperation for Transferring an Object

Keerio

Zhang

Jafri

2008

International Journal of Advanced Robotic Systems

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In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes according to the situation. In case of object passing with two humanoid robots, mutual position shifts may occur while they are moving. Therefore, it is necessary to correct the position in a real-time manner.To control the arm and hand of the robot remotely we use master arm and hand while it carries and passes the object, the dynamic stability during the execution of walking is ensured by incorporating the ZMP criterion and the desired spacing between the robots is controlled by Leader follower type control .Object passing cooperation for two humanoid robots is based on computer control, wireless LAN, vision, cooperative handling control and text commands. The method is applied as key software of the system. The effectiveness of the proposed methodology for performing cooperatively real time tasks is discussed.

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Section: Leader-follower Type Controlmentioning

confidence: 99%

Cooperation of Humanoid Robots Using Teleoperation for Transferring an Object

Keerio

Zhang

Jafri

2008

International Journal of Advanced Robotic Systems

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“…There are papers on transferring task by cooperation of multiple mobile robots [1] or on cooperative carrying task by a human and a manipulator robot [2,3]. Human-following experiment with biped humanoid robot is reported as well [4].…”

Section: Introductionmentioning

confidence: 99%

Hand-shaped force interface for human-cooperative mobile robot

Hikiji

Hashimoto

2001

Haptic Human-Computer Interaction

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Aiming at realization of direct and intuitive cooperation between human and robot, we propose an interface system for a two-wheeled, autonomous mobile robot that can take physical communication with its user via haptic, or hand-tohand force interaction. The hand-shaped device equipped on the robot has 1 DOF at the finger part and is capable of gently grasping a human hand when actuated. The force information is acquired by using strain gages on the flexible, rubber-made arm that physically supports the hand. The robot's motion is determined by the force input and/or the environmental condition. The robot recognizes obstacles by using bumper sensors and ultrasonic sensors around the body. When it touches an obstacle, the robot changes the route regardless of the user's intentional force and thus informs the user of such situation of obstacle avoidance. In this research, we design simple algorithms for both human-following and human-leading motions, and devise experiments with human users. Qualitative and quantitative evaluations of the experimental results are also presented.

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“…In case of centralized control algorithms, a single controller is supposed to control all of the manipulators in a centralized way, although it is difficult for a single controller to control many manipulators in coordination because of its computational burden. To overcome the problem, several decentralized control algorithms have been proposed for the manipulation of an object [61- [8], in which each robot is controlled by its own controller.…”

Section: Introductionmentioning

confidence: 99%

Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm

Kosuge

Oosumi²,

Seki³

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World

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We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedance-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.

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Transferring Control by Cooperation of Two Mobile Robots.

Cited by 27 publications

References 6 publications

Cooperation of Humanoid Robots Using Teleoperation for Transferring an Object

Cooperation of Humanoid Robots Using Teleoperation for Transferring an Object

Hand-shaped force interface for human-cooperative mobile robot

Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm

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