Abstract
Cooperation control between human’s and mobile manipulators has received big interest in the last few years. Mobile manipulators (MMs) have been suggested for various applications such as tasks involving hazardous environments, explosive handling, waste management, outdoor exploration and space operations. This paper describes a novel control algorithm for human-MM cooperation executing tasks in rough outdoor terrains. The proposed approach uses inexpensive common MM sensors such as wrist force/torque, IMU and joint/wheel encoders to achieve minimal human effort. The paper describes a control mechanism that enables ground mobile manipulators to execute complex tasks in cooperation with humans or other autonomous robots when working in unknown, dynamic heterogeneous outdoor rough terrains/environments. Simulation tests using a detailed SIMMECHANICS/ SIMULINK model of the employed MM are presented to illustrate and show the performance of the developed mechanisms.
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Mustafa, M., Ramirez-Serrano, A. (2011). Autonomous Control for Human-Robot Interaction on Complex Rough Terrain. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_33
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DOI: https://doi.org/10.1007/978-3-642-25489-5_33
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25488-8
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