Human-Robot Cooperative Handling of a Long Object. Control Method in a Horizontal Plane Using Virtual Nonholonomic Constraint.
نویسندگان
چکیده
منابع مشابه
Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint
A robotic assistance system is presented which enables a human to handle unwieldy long objects by providing only one point of support. The robot grasps one end of the object and helps the human operator carry it at the other end. The proposed control method uses a virtual nonholonomic constraint. The movement of the object is constrained as if it were being carried on a wheel attached to the ob...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2000
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.66.2677