TY - GEN
T1 - A Mutual Control Method for a Multi-layered Non-contact Impedance Model-based Mobile Robots
AU - Sasaki, Masaru
AU - Shibanoki, Taro
AU - Tonooka, Hideyuki
AU - Tsuji, Toshio
N1 - Funding Information:
This work was supported by JSPS KAKENHI Grant Numbers: JP26330226 and 20K20212.
Funding Information:
This work was supported by JSPS KAKENHI Grant Numbers 16KK0005, 17K00355. The computation was carried out using the computer resources offered under the category of General Projects by the Research Institute for Information Technology, Kyushu University.
Publisher Copyright:
© The 2022 International Conference on Artificial Life and Robotics (ICAROB2022).
PY - 2022
Y1 - 2022
N2 - In this paper, a mutual control method is proposed for multi-layered non-contact impedance model-based mobile robots. In the proposed system, the motion priority is set to the robot, and the stiffness, viscosity, and inertia parameters of the non-contact impedance model are changed appropriately according to the priority value allowing the robots to avoid collisions with each other and obstacles at the same time. In the experiment, two mobile robots one controlled by electromyogram signals were prepared and operated to intersect. The other mobile robot automatically stopped and resumed its movement in response to the EMG-controlled robot with high priority, indicating that the proposed method can be used to control multiple robots.
AB - In this paper, a mutual control method is proposed for multi-layered non-contact impedance model-based mobile robots. In the proposed system, the motion priority is set to the robot, and the stiffness, viscosity, and inertia parameters of the non-contact impedance model are changed appropriately according to the priority value allowing the robots to avoid collisions with each other and obstacles at the same time. In the experiment, two mobile robots one controlled by electromyogram signals were prepared and operated to intersect. The other mobile robot automatically stopped and resumed its movement in response to the EMG-controlled robot with high priority, indicating that the proposed method can be used to control multiple robots.
KW - Collision avoidance
KW - Electromyogram (EMG)
KW - Noncontact impedance control
KW - Recurrent probabilistic neural network
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M3 - Conference contribution
AN - SCOPUS:85125149609
SN - 9784990835071
T3 - Proceedings of International Conference on Artificial Life and Robotics
SP - 270
EP - 274
BT - Proceedings of the International Conference on Artificial Life and Robotics, ICAROB 2022
A2 - Jia, Yingmin
A2 - Ito, Takao
A2 - Lee, Ju-Jang
PB - ALife Robotics Corporation Ltd
T2 - 27th International Conference on Artificial Life and Robotics, ICAROB 2022
Y2 - 20 January 2022 through 23 January 2022
ER -