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In this paper, we propose a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. The passive mobile robot called “O-PRP(Omni-directional type Passive Robot Porter)” has passive dynamics with respect to an applied force and its motion is controlled based on the servo brakes. In the proposed algorithm, each O-PRP is controlled as if it has an apparent dynamics, and the motion characteristics of the object supported by the multiple O-PRPs is changed for improving the maneuverability. The proposed algorithm is applied to two O-PRPs, and experimental results illustrate its validity.

Transportation of an Object by Multiple Passive Mobile Robots in Cooperation with a Human