期刊
ADVANCED ROBOTICS
卷 30, 期 2, 页码 131-149出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2015.1096212
关键词
Humanoid robots; force control; symmetric control; cooperative movement
类别
资金
- JSPS [26540130]
- Grants-in-Aid for Scientific Research [26540130] Funding Source: KAKEN
A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.
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