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
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.
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