Cooperative Transportation between Human and Mobile Manipulator

G. Hirano, M. Yamamoto, and A. Mohri (Japan)


mobile manipulator, human cooperation, transportation


In this paper, We consider the cooperative transportation task by the human and the mobile manipulator handling a long object. To reduce a burden of a human at the work, it is reasonable for a human face to the working direction of the transportation. So the robot is located in front of the object, a human is located in back of the the object, then grasp and transport the object together. A human control the trans portation task by applying the intentional force to the ob ject. And the robot detects the obstacles and avoids them autonomously without any human support. We develop the control method of the mobile manipulator with viewpoint of labersaving, and demonstrate the effectiveness by simu lations.

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