In this project, we developed an omni-directional type object handling robot called the PRP (Passive Robot Porter) based on the passive robotics. Passive robot systems do not have any driving force and move passively based on external force/moment. PRP consists of a force sensor, omni-directional wheels, servo brakes and encoders.
We proposed a motion control algorithm of a PRP and verified the algorithm. Also, we proposed motion control algorithms for handling a large/long object by multiple PRPs in cooperation with a human. We identified effectiveness of the system via conveyance experiments.
- Y. Hirata, Y. Ojima and K. Kosuge, “Distributed Motion Control of Multiple Passive Object Handling Robots Consedering Feasible of Brake Control”, Proceedings of 2010 IEEE International Conference on Robotics and Automation, pp. 3413-3419, 2010.
- Y. Hirata, Y. Ojima, K. Kosuge, “Coordinated Motion Control of Multiple Passive Object Handling Robots Based on Environment Information”, Proceedings of 2009 IEEE International Conference on Robotics and Automation, pp. 2338-2343, 2009.