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

Manipulation of a large object by multiple DR Helpers in cooperation with a human
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多个 DR Helper 与人类合作操作大型物体

DOI：
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发表时间：
2001
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)
影响因子：
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通讯作者：
K. Kawabata
K. Kawabata
中科院分区：
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文献类型：
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作者：
Y. Hirata;T. Takagi;K. Kosuge;H. Asama;H. Kaetsu;K. Kawabata

文献摘要

被引文献

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我们提出了一种名为 DR Helpers 的多个机器人助手的分散控制算法，该算法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为围绕附着在物体上的代表点具有类似脚轮的动力学，并且可以轻松实现与人类合作操纵大或长的物体。所提出的控制算法被实验应用于两个DR Helper，实验结果说明了所提出的控制算法的有效性。
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.