Title :
Liquid handling control for service robot by hybrid shape approach
Author :
Komoguchi, Y. ; Kunieda, M. ; Yano, K.
Author_Institution :
Gifu Univ., Gifu
Abstract :
Humanoids are expected to be placed in the restaurant as service robots considering the liquid suppression control. This paper proposed a gain scheduling hybrid control to suppress sloshing. It is based on hybrid shape controller proposed in our former work. However, in order to design the controller by former method, natural frequencies had to be known in advance. In this study, the natural frequencies would be obtained from the measurement with force sensor. Then appropriate parameters of the controller are given by solving optimization problem.
Keywords :
control system synthesis; force sensors; humanoid robots; service robots; shape control; controller design; force sensor; gain scheduling hybrid control; humanoids; hybrid shape approach; hybrid shape controller; liquid handling control; liquid suppression control; optimization problem; service robot; sloshing suppression; Computational fluid dynamics; Computational modeling; Containers; Force control; Force sensors; Frequency estimation; Proportional control; Robot control; Service robots; Shape control; force sensor; gain scheduling controller; natural frequency; sloshing control;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4654945
