Human-Robot Cooperative Handling Using Variable Virtual Nonholonomic Constraint

被引：0

作者：

Takubo, Tomohito ^{[1
]}

Arai, Hirohiko ^{[2
]}

Tanie, Kazuo ^{[3
]}

Arai, Tatsuo ^{[1
]}

机构：

[1] Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Osaka, Toyonaka

[2] National Institute of Advanced Industrial Science and Technology (AIST), 1-2 Namiki, Ibawraki, Tsukuba

[3] Faculty of System Design, Metropolitan University, 6-6 Asahigaoka, Tokyo, Hino

来源：

International Journal of Automation Technology | 2009年 / 3卷 / 06期

关键词：

assist system; human robot cooperative task; mobile manipulator; nonholonomic;

D O I：

10.20965/ijat.2009.p0653

中图分类号：

学科分类号：

摘要：

In proposing variable nonholonomic constraint for cooperative human-robot handling, we deal with non-holonomic wheel movement manipulated intuitively by the use. We propose implementing virtual nonholo-nomic constraint in robot grasping, enabling users to transfer objects, similar to using a wheelbarrow, without slipping. Transporting objects accurately in a fixed constraint point requires skill, so we propose prepar-ing multiple constraint points to be selected based on the situation. We apply this to a mobile manipulator, confirming feasibility experimentally. © Fuji Technology Press Ltd.

引用

页码：653 / 662

页数：9

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