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Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

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Please use this identifier to cite or link to this item:http://hdl.handle.net/2115/64140

Title: Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots
Authors: Wu, Meng-Hung Browse this author
Ogawa, Shuhei Browse this author
Konno, Atsushi Browse this author →KAKEN DB
Keywords: Humanoid robots
force control
symmetric control
cooperative movement
Issue Date: 18-Jan-2016
Publisher: Taylor & Francis
Journal Title: Advanced Robotics
Volume: 30
Issue: 2
Start Page: 131
End Page: 149
Publisher DOI: 10.1080/01691864.2015.1096212
Abstract: A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.
Rights: This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 18 January 2016, available online: http://www.tandfonline.com/10.1080/01691864.2015.1096212
Type: article (author version)
URI: http://hdl.handle.net/2115/64140
Appears in Collections:情報科学院・情報科学研究院 (Graduate School of Information Science and Technology / Faculty of Information Science and Technology) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

Submitter: 近野 敦

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