Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor | Zendy

Yasuhisa Hirata | Zendy; Kazuhiro Kosuge | Zendy; T. Oosumi | Zendy; Hajime Asama | Zendy; Hayato Kaetsu | Zendy; Kuniaki Kawabata | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor

Author(s) -

Yasuhisa Hirata,

Kazuhiro Kosuge,

T. Oosumi,

Hajime Asama,

Hayato Kaetsu,

Kuniaki Kawabata

Publication year - 2000

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2000.p0242

Subject(s) - mobile robot , robot , computer science , moment (physics) , robot control , actuator , object (grammar) , torque , simulation , computer vision , engineering , artificial intelligence , control engineering , physics , classical mechanics , thermodynamics

In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor, which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensor and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple mobile robots in coordination is implemented in each omni-dirctional mobile robot and multiple mobile robots with the body force sensor realize stable handling of an object. Experimental results illustrate the validity of the proposed architecture.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research