In this research, we introduce a double-wheel caster unit controlled by servo brakes for a mobile robot platform in cooperation with a human. This system is designed to achieve both high safety and high performance by controlling the user applied force by servo brakes. With respect to mobility, casters are widely used in the real world because they have several characteristics that make them suitable as moving bases. In contrast, control of a system with casters is challenging because of their complex structure. In this research, we address the problem of combining the servo brake control and the caster for a new type passive mobile platform. This could enable us to achieve high safety and high mobility while simultaneously providing assistive functions in a moving system that deals with large, long, or complex-shaped objects, including human beings.
Publications:
- Motion Control of Caster-type Passive Mobile Robot with Servo Brakes.[Advanced Robotics,26(11-12),(2012),1271-1290]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge
- Development of Passive type Double Wheel Caster Unit based on Analysis of Feasible Braking Force and Moment Set.[Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2011),311-317]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge
- Motion Control of Passive Mobile Robot with Multiple Casters Based on Feasible Braking Force and Moment.[Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2010),3130-3137]Masao Saida, Yasuhisa
- Motion Control of Passive Mobile Robot Consisting of Casters with Servo Brakes.[Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2009),42-48]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge