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

Wu, Meng-Hung; Ogawa, Shuhei; Konno, Atsushi

Advanced Robotics, 2016, 30(2), 131-149

Permalink : https://hdl.handle.net/2115/64140

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論文情報

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アクセス権
open access
URI
https://hdl.handle.net/2115/64140
タイトル
Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots
著者
Wu, Meng-Hung ; Ogawa, Shuhei ; Konno, Atsushi
著者名
Wu, Meng-Hung
著者名
Ogawa, Shuhei
e-Rad_Researcher
90250688
著者名
Konno, Atsushi
言語
英語
キーワード
Humanoid robots
force control
symmetric control
cooperative movement
発行日
2016-01-18
出版者
Taylor & Francis
収録物名
Advanced Robotics
巻(号)
30(2)
ページ
131-149
抄録
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.
資源タイプ
学術雑誌論文
出版タイプ
Accepted Manuscript
権利情報
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
PISSN
0169-1864
関連情報 (isVersionOf)
出版社版DOI
https://doi.org/10.1080/01691864.2015.1096212