Control of multiple mobile robots using map for handling single object in coordination with human

摘要

In this paper, we propose a decentralized control algorithm of multiple robots handling a single object in coordination with a human. Motion of each robot is controlled as if the object was supported by the robot through a free joint. The robot moves along a path generated by a map of its environment based on the intentional force applied to the object by the human. The proposed control algorithm is experimentally applied to the omni-directional mobile robots (DR helpers). Experimental results illustrate the validity of the proposed control algorithm.