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JRM Vol.21 No.2 pp. 252-259
doi: 10.20965/jrm.2009.p0252
(2009)

Paper:

Design of Autonomous/Man-Machine-Cooperative Mobile Robot

Shinkichi Inagaki, Tatsuya Suzuki, Takahiro Ito, and Wu Shidan

Dept. of Mechanical Science and Engineering, Nagoya University
Furo-cho, Chikusa-ku, Nagoya, Japan

Received:
October 23, 2008
Accepted:
January 29, 2009
Published:
April 20, 2009
Keywords:
power-assist, impedance control, time-state control, nonholonomic vehicle, man-machine-cooperative system
Abstract

The control methodology we propose for a nonholonomic electric two-wheeled vehicle combines autonomous control and man-machine-cooperative control. “Autonomous control” is designed using time-state control to reduce vehicle deviation from a guidance line. “Man-machine-cooperative control” is designed using impedance control to generate power to assist user maneuvers. Experiments demonstrate the usefulness of our proposed design.

Cite this article as:
Shinkichi Inagaki, Tatsuya Suzuki, Takahiro Ito, and Wu Shidan, “Design of Autonomous/Man-Machine-Cooperative Mobile Robot,” J. Robot. Mechatron., Vol.21, No.2, pp. 252-259, 2009.
Data files:
References
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