Object-Impedance-Based Cooperative Handling of Object by Mobile Robot Helper and Human

Abstract

In this paper, We propose a motion control algorithm of a mobile robot with dual arms for handling an object in cooperation with a human. The algorithm specifies the apparent impedance of a manipulated object with respect to a world coordinate system. It also specifies the apparent impedance of the mobile base with respect to the object coordinate system without the influence to the motion of the object to the base. The control algorithm is implemented in Mobile Robot Helper and experimental results illustrate the validity of the proposed algorithm.