Cooperative transportation between human and mobile manipulator

Go Hirano, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalConference articlepeer-review


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 transportation task by applying the intentional force to the object. 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 simulations.

Original languageEnglish
Pages (from-to)10-15
Number of pages6
JournalProceedings of the IASTED International Conference on Robotics and Applications
Publication statusPublished - Dec 27 2004
Externally publishedYes
EventProceedings of the Tenth IASTED International Conference on Robotics and Applications - Honolulu, HI, United States
Duration: Aug 23 2004Aug 25 2004

All Science Journal Classification (ASJC) codes

  • Software
  • Mechanical Engineering
  • Computer Science Applications


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