Estimating the center of gravity of an object using tilting by multiple mobile robots

Author

Sasaki, Jun ; Nishida, Gen ; Yamashita, Atsushi ; Aiyama, Yasumichi ; Ota, Jun ; Arai, Tamio

Author_Institution

Dept. of Precision Machinery Eng., Tokyo Univ., Japan

Volume

3

fYear

1997

fDate

7-11 Sep 1997

Firstpage

1748

Abstract

In transporting various objects by multiple mobile robots we need to change the formation of robots and posture of an object. This planning depends on the mass and center of gravity of an object. Here we discuss the accuracy of the estimation of the mass and the position of the center of gravity of an object. Particularly we propose a method for estimating the height of the center of gravity which cannot be estimated by only one measurement. Validity of this strategy is verified by means of a real robot system

Keywords

cooperative systems; gravity; materials handling; mobile robots; parameter estimation; transportation; center of gravity; cooperative systems; mass estimation; multiple mobile robots; object handling; optimisation; planning; position estimation; tilting; Gravity; Machinery; Manipulators; Mobile communication; Mobile robots; Orbital robotics; Particle measurements; Production facilities; Transportation; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.656597

Filename

656597