Cooperative transportation between human and mobile manipulator

Go Hirano, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticle

Abstract

In this paper, We consider the cooperative transportation task by the human and the mobile manipulator handling a long object. To reduce a burden of a human at the work, it is reasonable for a human face to the working direction of the transportation. So the robot is located in front of the object, a human is located in back of the the object, then grasp and transport the object together. A human control the transportation task by applying the intentional force to the object. And the robot detects the obstacles and avoids them autonomously without any human support. We develop the control method of the mobile manipulator with viewpoint of labersaving, and demonstrate the effectiveness by simulations.

Original languageEnglish
Pages (from-to)10-15
Number of pages6
JournalUnknown Journal
Publication statusPublished - 2004
Externally publishedYes

Fingerprint

Manipulators
Robots
simulation
method

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Cooperative transportation between human and mobile manipulator. / Hirano, Go; Yamamoto, Motoji; Mohri, Akira.

In: Unknown Journal, 2004, p. 10-15.

Research output: Contribution to journalArticle

@article{da53c63bf5a54f9ea01c2917cb8d83db,
title = "Cooperative transportation between human and mobile manipulator",
abstract = "In this paper, We consider the cooperative transportation task by the human and the mobile manipulator handling a long object. To reduce a burden of a human at the work, it is reasonable for a human face to the working direction of the transportation. So the robot is located in front of the object, a human is located in back of the the object, then grasp and transport the object together. A human control the transportation task by applying the intentional force to the object. And the robot detects the obstacles and avoids them autonomously without any human support. We develop the control method of the mobile manipulator with viewpoint of labersaving, and demonstrate the effectiveness by simulations.",
author = "Go Hirano and Motoji Yamamoto and Akira Mohri",
year = "2004",
language = "English",
pages = "10--15",
journal = "Quaternary International",
issn = "1040-6182",
publisher = "Elsevier Limited",

}

TY - JOUR

T1 - Cooperative transportation between human and mobile manipulator

AU - Hirano, Go

AU - Yamamoto, Motoji

AU - Mohri, Akira

PY - 2004

Y1 - 2004

N2 - In this paper, We consider the cooperative transportation task by the human and the mobile manipulator handling a long object. To reduce a burden of a human at the work, it is reasonable for a human face to the working direction of the transportation. So the robot is located in front of the object, a human is located in back of the the object, then grasp and transport the object together. A human control the transportation task by applying the intentional force to the object. And the robot detects the obstacles and avoids them autonomously without any human support. We develop the control method of the mobile manipulator with viewpoint of labersaving, and demonstrate the effectiveness by simulations.

AB - In this paper, We consider the cooperative transportation task by the human and the mobile manipulator handling a long object. To reduce a burden of a human at the work, it is reasonable for a human face to the working direction of the transportation. So the robot is located in front of the object, a human is located in back of the the object, then grasp and transport the object together. A human control the transportation task by applying the intentional force to the object. And the robot detects the obstacles and avoids them autonomously without any human support. We develop the control method of the mobile manipulator with viewpoint of labersaving, and demonstrate the effectiveness by simulations.

UR - http://www.scopus.com/inward/record.url?scp=10444252560&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=10444252560&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:10444252560

SP - 10

EP - 15

JO - Quaternary International

JF - Quaternary International

SN - 1040-6182

ER -