Collision-tolerant control algorithm for mobile manipulator with viscoelastic passive trunk

Hun ok Lim, Kazuhito Yokoi, Qiang Huang, Sang rok Oh, Atsuo Takanishi, Kazuo Tanie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    We have proposed the collision-tolerant mobile manipulator equipped with a passive trunk. In collision experiments with unknown environments, results show that this mechanism is suitable for the suppression of contact forces which is an important issue for human-robot collaborations. The trunk with mechanical elements such as springs and dampers is passively deformed to deal with physical contacts, while the mobile platform moves around on the horizontal plane in response to friction between the platform and the ground. The end-effector of the manipulator, however, is difficult to track a desired task due to the deformation of the compliant trunk and the mobility of the platform. In order to solve the problem, the desired joint configurations of the manipulator are directly calculated according to the movement of the trunk and the platform, and a feedback control scheme is employed.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Editors Anon
    PublisherIEEE
    Pages13-20
    Number of pages8
    Volume1
    Publication statusPublished - 1998
    EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
    Duration: 1998 May 161998 May 20

    Other

    OtherProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
    CityLeuven, Belgium
    Period98/5/1698/5/20

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    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Lim, H. O., Yokoi, K., Huang, Q., Oh, S. R., Takanishi, A., & Tanie, K. (1998). Collision-tolerant control algorithm for mobile manipulator with viscoelastic passive trunk. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 13-20). IEEE.