In this project, we developed a passive type mobile robot referred to as “PRP(Passive Robot Porter)”. Its object is to invent a conveyance system with no actuators. This system is structured by a forced sensor, omni-directional wheels, servo breaks, free joint and encoders. We proposed a motion control algorithm and verified the algorithm. We identified effectiveness of the system via conveyance experiments using PRP’s with a human.
・Z. D. Wang, K. Fukaya, Y. Hirata, K. Kosuge, “Control Passive Mobile Robots for Object Transportation-Braking Torque Analysis and Motion Control”, Pro. of IEEE International Conference on Robotics and Automation, pp.2874-2879, 2007.
・Y. Hirata, H. Song, Z. D. Wang, K. Kosuge, “Motion Control of Passive Robots Porter with Variable Motion Characteristics for Handling a Single Object”, Pro. of the 2007 IEEE International Conference on Robotics and Biomimetics, pp.1041-1046, 2007.
・Y. Hirata, Y. Ojima, K. Kosuge , ”Coordinated Motion Control of Multiple Passive Object Handling Robots based on Environment Information”, Pro. of IEEE International Conference on Robotics and Automation, 2009, (to appear)