Development of omni-directional mobile base with servo brakes for passive dance partner robot

Author

Hirata, Yasuhisa ; Koike, Yoshinori ; Liu, Zhao ; Kosuge, Kazuhiro

Author_Institution

Dept. of Bioeng. & Robot., Tohoku Univ., Sendai

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

676

Lastpage

681

Abstract

In this research, we develop a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. The maneuverability and the controllability of the passive robot are influenced by the original motion characteristics of the robot with respect to the human applied force. In this paper, we investigate the original motion characteristics of the omni-directional mobile base of the passive dance partner robot and consider the arrangement of the omni-directional wheels with servo brakes.

Keywords

mobile robots; servomechanisms; brake control; human-robot cooperation; omni-directional mobile; passive dance partner robot; servo brakes; servo motors; Force control; Humans; Intelligent robots; Medical robotics; Mobile robots; Robot kinematics; Robot sensing systems; Servomechanisms; Servomotors; Wheels; Brake Control; Omni-directional Mobile Base; Original Motion Characteristics; Passive Dance Partner Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913082

Filename

4913082