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Object handling control among two-wheel robots and a human operator: An empirical approach

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  • Robotics and Automation
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Abstract

This article presents object handling control between two-wheel robot manipulators, and a two-wheel robot and a human operator. The two-wheel robot has been built for serving humans in the indoor environment. It has two wheels to maintain balance and is able to make contact with a human operator via an object. A position-based impedance force control method is applied to maintain stable object-handling tasks. As the human operator pushes and pulls the object, the robot also reacts to maintain contact with the object by pulling and pushing against the object to regulate a specified force. Master and slave configuration of two-wheel robots is formed for handling an object, where the master robot or a human leads the slave robot equipped with a force sensor. Switching control from position to force or vice versa is presented. Experimental studies are performed to evaluate the feasibility of the object-handling task between two-wheel mobile robots, and the robot and a human operator.

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Authors and Affiliations

  1. the School of Mechatronics Engineering, Chungnam National University, 220 Gungdong, Yuseong-gu, Daejeon, 305-764, Korea

    Seung Jun Lee & Seul Jung

Authors
  1. Seung Jun Lee
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  2. Seul Jung
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Correspondence to Seul Jung.

Additional information

Recommended by Editorial Board member Pinhas Ben-Tzvi under the direction of Editor Hyouk Ryeol Choi.

This work was supported by the Korea Research Foundation under grant of Basic Research Program and AIM.

Seung Jun Lee received his B.S. degree in Mechatronics Engineering from Chungnam National University and his M.S. degree from the Department of Mechatronics Engineering, Chungnam National University, in 2008 and 2011, respectively. He is currently at Rehabilitation research center, Korea. His research interests include intelligent robot applications, rehabilitation robots, assistive technology.

Seul Jung received his B.S. degree in Electrical and Computer Engineering from Wayne State University, Detroit, MI, USA, and his M.S. and Ph.D. degrees in Electrical and Computer Engineering from the University of California, Davis, in 1988, 1991 and 1996, respectively. In 1997, he joined the Department of Mechatronics Engineering, Chungnam National University, where he is presently a professor. His research interests include intelligent Mechatronics systems, intelligent robotic systems, mobile manipulators for home service applications, and robot education. He is a member of IEEE, ACA, ICROS, KROS, KIIS, KIEE, IEMEK, and IEEK.

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Lee, S.J., Jung, S. Object handling control among two-wheel robots and a human operator: An empirical approach. Int. J. Control Autom. Syst. 11, 346–353 (2013). https://doi.org/10.1007/s12555-011-0179-2

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  • DOI: https://doi.org/10.1007/s12555-011-0179-2

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