Power-assistant platform taking environmental disturbance into account

Akihisa Nagami, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper proposes a power-assistant platform which is a mobile robot driven by two different wheels. It has also two casters, and an operation handle to apply pushing and pulling force to the robot. The applied force is detected by two force sensors mounted on the handling bar. Then the detected force is utilized to determine the driving torque of the robot. This makes it possible to control the robot motion by an operator independently of the weight of loaded objects. Furthermore this paper deals with a compensation of environmental disturbance to realize a smooth operational motion of the robot. Several experimental results are shown to confirm the validity of the proposed approach.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages152-157
Number of pages6
Publication statusPublished - 2000

Fingerprint

Robots
Mobile robots
Wheels
Torque
Sensors
Compensation and Redress

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nagami, A., Murakami, T., & Ohnishi, K. (2000). Power-assistant platform taking environmental disturbance into account. In International Workshop on Advanced Motion Control, AMC (pp. 152-157). IEEE.

Power-assistant platform taking environmental disturbance into account. / Nagami, Akihisa; Murakami, Toshiyuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. IEEE, 2000. p. 152-157.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagami, A, Murakami, T & Ohnishi, K 2000, Power-assistant platform taking environmental disturbance into account. in International Workshop on Advanced Motion Control, AMC. IEEE, pp. 152-157.
Nagami A, Murakami T, Ohnishi K. Power-assistant platform taking environmental disturbance into account. In International Workshop on Advanced Motion Control, AMC. IEEE. 2000. p. 152-157
Nagami, Akihisa ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Power-assistant platform taking environmental disturbance into account. International Workshop on Advanced Motion Control, AMC. IEEE, 2000. pp. 152-157
@inproceedings{d8a45349e2194f0dbf90d860e89c1648,
title = "Power-assistant platform taking environmental disturbance into account",
abstract = "This paper proposes a power-assistant platform which is a mobile robot driven by two different wheels. It has also two casters, and an operation handle to apply pushing and pulling force to the robot. The applied force is detected by two force sensors mounted on the handling bar. Then the detected force is utilized to determine the driving torque of the robot. This makes it possible to control the robot motion by an operator independently of the weight of loaded objects. Furthermore this paper deals with a compensation of environmental disturbance to realize a smooth operational motion of the robot. Several experimental results are shown to confirm the validity of the proposed approach.",
author = "Akihisa Nagami and Toshiyuki Murakami and Kouhei Ohnishi",
year = "2000",
language = "English",
pages = "152--157",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "IEEE",

}

TY - GEN

T1 - Power-assistant platform taking environmental disturbance into account

AU - Nagami, Akihisa

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 2000

Y1 - 2000

N2 - This paper proposes a power-assistant platform which is a mobile robot driven by two different wheels. It has also two casters, and an operation handle to apply pushing and pulling force to the robot. The applied force is detected by two force sensors mounted on the handling bar. Then the detected force is utilized to determine the driving torque of the robot. This makes it possible to control the robot motion by an operator independently of the weight of loaded objects. Furthermore this paper deals with a compensation of environmental disturbance to realize a smooth operational motion of the robot. Several experimental results are shown to confirm the validity of the proposed approach.

AB - This paper proposes a power-assistant platform which is a mobile robot driven by two different wheels. It has also two casters, and an operation handle to apply pushing and pulling force to the robot. The applied force is detected by two force sensors mounted on the handling bar. Then the detected force is utilized to determine the driving torque of the robot. This makes it possible to control the robot motion by an operator independently of the weight of loaded objects. Furthermore this paper deals with a compensation of environmental disturbance to realize a smooth operational motion of the robot. Several experimental results are shown to confirm the validity of the proposed approach.

UR - http://www.scopus.com/inward/record.url?scp=0034475832&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034475832&partnerID=8YFLogxK

M3 - Conference contribution

SP - 152

EP - 157

BT - International Workshop on Advanced Motion Control, AMC

PB - IEEE

ER -