Transporting an Object by a Passive Mobile Robot with Servo Brakes in Cooperation with a Human

Abstract

In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter) to realize transportation of an object in cooperation with human, which is developed based on a concept of passive robotics. PRP consists of three omni-directional wheels with servo brakes and a controller. It can manipulate an object by controlling an external force/moment applied by a human based on the control of the servo brakes. We consider the characteristics of the servo brakes and control the brake torque of each wheel based on the brake force/moment constraint so that several motion functions of PRP are realized based on the applied force. This allows PRP to track a path which includes motion perpendicular to the pushing direction of the human without using servo motors. The impedance-based motion control is also realized with respect to the perpendicular to the pushing direction. These functions are implemented on PRP experimentally, and the experimental results illustrate the validity of PRP and its control method.

Human–Robot Collaboration Based on Motion Intention Estimation

“…Force control can be an option for interaction control, but it is limited by its samge@nus.edu.sg poor robustness [2]. Proposed in [3] and further developed in many other works [4], [5], [6], [7], [8], [9], impedance control is acknowledged to be a promising approach for interaction control. By employing impedance control, the robot is controlled to be compliant to the force exerted by the human partner.…”

Neural networks impedance control of robots interacting with environments

“…Suppose that lim k→∞ż k exists, lim k→∞ z k = 0 will lead to lim k→∞ż k = 0, and thus lim k→∞ w k = 0 considering (15) and (10). Based on this fact, the control objective becomes z k → 0 as…”

Human-Powered Robotics—Concept and One-DOF Prototype

“…The concept is advantageous for realizing intrinsic safety since the system in principle does not operate unless a human applies force. Robotic systems based on this concept have also been proposed by Hirata and Kosuge (Hirata et al 2007(Hirata et al , 2009Suzuki et al 2011), and the intelligent control of a walker, such as collision avoidance and fall prevention, as well as the application of a wearable walking helper and cooperative control of multiple robots, have been realized. While "Cobot" proposed by Peshkin et al is controlled by controlling only the steering angle of its wheels through servo motors, all of the control methods proposed by Hirata et al control the system's moving direction, force and velocity by controlling the torque of the powder brakes.…”