Motion control of mobile manipulator for human interaction

Eri Yamanaka, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

5 被引用数 (Scopus)

抄録

This paper aims at the improvement in a future life using a mobile manipulator. For example, power assistance of old people and cooperative operation with human. For coexistence of robot and human being, it is required that a person can work in cooperation with robot safety. To make this environment, this paper introduces the impedance control. When the force command by human is added, robot follows it. When the force command is not added, robot follows the position command. By this motion, robot can perform desired impedance motion and soft operation. This is one of the remarkable points in the proposed strategy. The validity of the proposed method is confirmed by experimental results.

本文言語English
ページ2785-2790
ページ数6
DOI
出版ステータスPublished - 2002 12 1
イベントProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain
継続期間: 2002 11 52002 11 8

Other

OtherProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
CountrySpain
CitySevilla
Period02/11/502/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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