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

Hun Ok Lim, Kazuhito Yokoi, Qiang Huang, Sang Rok Oh, A. Takanishi, K. 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 (i.e., supporting part). 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 - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages13-20
Number of pages8
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • 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 Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 13-20). [676242] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.676242