In this project, we have proposed a passive mobile robot called C-PRP (Caster type Passive Robot Porter). This mobile robot consists of multiple casters with servo brakes and a controller. C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. We derived and analyzed a feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. In addition, we proposed a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment.
- M. Saida, Y. Hirata, K. Kosuge, :“Motion Control of Passive Mobile Robot Consisting of Casters with Servo Brakes”, Proc. of IEEE/RSJ International Conference on Intelligent Robotics and Systems, MoIT2.3, St. Louis, USA, October, 2009．
- M. Saida, Y. Hirata, K. Kosuge, :“Motion Control of Passive Mobile Robot with Multiple Casters Based on Feasible Braking Force and Moment”, Proc. of IEEE/RSJ International Conference on Intelligent Robotics and Systems, Taipei, Taiwan, October, 2010.