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IJAT Vol.3 No.6 pp. 653-662
doi: 10.20965/ijat.2009.p0653
(2009)

Paper:

Human-Robot Cooperative Handling Using Variable Virtual Nonholonomic Constraint

Tomohito Takubo*, Hirohiko Arai**, Kazuo Tanie***, and Tatsuo Arai*

*Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan

**National Institute of Advanced Industrial Science and Technology (AIST), 1-2 Namiki, Tsukuba, Ibawraki 305-8564, Japan

***Faculty of System Design, Metropolitan University, 6-6 Asahigaoka, Hino, Tokyo 191-0065, Japan

Received:
May 25, 2009
Accepted:
August 3, 2009
Published:
November 5, 2009
Keywords:
assist system, human robot cooperative task, mobile manipulator, nonholonomic
Abstract

In proposing variable nonholonomic constraint for cooperative human-robot handling, we deal with nonholonomic wheel movement manipulated intuitively by the use. We propose implementing virtual nonholonomic constraint in robot grasping, enabling users to transfer objects, similar to using a wheelbarrow, without slipping. Transporting objects accurately in a fixed constraint point requires skill, so we propose preparing multiple constraint points to be selected based on the situation. We apply this to a mobile manipulator, confirming feasibility experimentally.

Cite this article as:
T. Takubo, H. Arai, K. Tanie, and T. Arai, “Human-Robot Cooperative Handling Using Variable Virtual Nonholonomic Constraint,” Int. J. Automation Technol., Vol.3, No.6, pp. 653-662, 2009.
Data files:
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Last updated on Nov. 08, 2019