Transportation of an Object by Multiple Distributed Robot Helpers in Cooperation with a Human.

Abstract

In this paper, we propose a concept of a human-robots cooperation system referred to as distributed robot helpers and a decentralized motion control algorithm of multiple mobile robot helpers for handling a single object in cooperation with a human/humans. The prototype system of distributed robot helpers referred to as DR Helper consists of an omni-directional mobile base, a six axis body force sensor, a folk lift, and an onboard controller. Each system is controlled by a kind of a damping motion control law using its own controller. Multiple DR Helpers transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using two DR Helpers will illustrate the concept and show the validity of the proposed control algorithm.