Intelligent Coordinated Control System based on Complement of Functions for Multiple environment-adaptive Mobile Robots

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With the coming of aging societies, several serious problems are considered in our society. Robots are expected to be one of solutions for problems relating to our daily activities, such as in medical and welfare fields, at home and office, in construction sites, and so on. To use the robots in an ordinary environment with humans, mobility is an important function to cover a working space, and multiple small robots are more appropriate than a large and heavy robot from a safety point of view. Because each small robot has less kinetic energy than the large and heavy one, when they are moving with the same speed, and less harmful to a human when it collides with a human/humans.In this project, we developed multiple mobile manipulators for assisting humans. Each robot consists of am omni-directional mobile base and a 7-DOF manipulator. The six-axis force/torque sensor is installed to the wrist of each manipulator to handle an object in coordination. The body force sensor, which is the parallel-like type force/torque sensor, is attached to the body for detecting the force/moment applied to the body of the robot from the safety point of view.We also proposed several intelligent control algorithms of multiple mobile manipulators for handling a single object in coordination. In these control algorithms, multiple mobile robots could handle a single object in coordination based on the human intention and the information of an environment. The proposed control algorithms were applied to the developed mobile manipulator experimentally and illustrated the validities of the proposed control algorithms.