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| Volume 21 Issue 05/06 - Publication Date: 1 May 2002 |
| Nonholonomy on Purpose |
| Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint |
| Tomohito Takubo University of Tsukuba 1-1 Tennodai, Tsukuba, Japan , Hirohiko Arai The National Institute of Advanced Industrial Science and Technology AIST Tsukuba East 1-2-1 Namiki, Tsukuba, Japan , Yasuo Hayashibara Toin University of Yokohama 1614 Kurogane-cho Midori-ku, Yokohama, Japan and Kazuo Tanie The National Institute of Advanced Industrial Science and Technology AIST Tsukuba Central 2 1-1-1 Umezono Tsukuba, Japan |
| A robotic assistance system is presented which enables a human to handle unwieldy long objects by providing only one point of support. The robot grasps one end of the object and helps the human operator carry it at the other end. The proposed control method uses a virtual nonholonomic constraint. The movement of the object is constrained as if it were being carried on a wheel attached to the object. This method prevents the object from slipping sideways and simplifies the carrying operation. In spite of the constraint, the object can reach any position and orientation due to the nonholonomy. Cooperative manipulation in a horizontal plane is considered first, and then it is extended to 6-DoF manipulation in 3-D space. Experimental results show that an operator can easily handle a long object when aided by the robot. |
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