Name
Abstract | ||
|---|---|---|
This pager presents a design of control system for a cooperative transport task using multiple teleoperated mobile robots. In the proposed method, a leader-follower system consisting of a human-operated-robot and autonomous robots, motion planning by an artificial potential field method, and formation control for each robot are integrated. In this study, a remote cooperative transportation task by human and human was performed as a test case, and a problem of teleoperation using multiple robot is reaffirmed before the integration. And the formation control considering the constraint force among robots and automatically modify artificial potential filed is proposed. Performance of the proposed method was confirmed in simulation. As a result of verification with simulation using the proposed control system, it was confirmed that adequate cooperative motion was successfully realized. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IECON.2012.6389222 | Montreal, QC |
Keywords | Field | DocType |
control system synthesis,human-robot interaction,materials handling,mobile robots,motion control,path planning,telerobotics,transportation,artificial potential field method,artificial potential filed,autonomous robot,constraint force,control system design,cooperative transport task,formation control,human assistive control,human-operated-robot,leader-follower system,motion planning,remote cooperative transportation task,teleoperated human-robot cooperative carrying task,teleoperated mobile robot,human robot interaction | Motion planning,Teleoperation,Robot control,Social robot,Simulation,Personal robot,Control engineering,Engineering,Robot,Telerobotics,Mobile robot | Conference |
ISSN | ISBN | Citations |
1553-572X E-ISBN : 978-1-4673-2420-5 | 978-1-4673-2420-5 | 1 |
PageRank | References | Authors |
0.40 | 4 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Matsunaga, S. | 1 | 1 | 0.40 |
| Satoshi Suzuki | 2 | 99 | 15.23 |