Compliance control during cooperative transport using multiple mobile robots

Shuichi Tatsumi, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In recent years, there has been concern over labor shortages. Robots are being introduced for transportation and other tasks. When robots are used in the environment with humans, it is desirable that the size is small and the output is relatively small from a viewpoint of safety. However, in the case of using one robot, there is a limit to the transport capacity. To address this issue, this paper describes the cooperative control of two mobile robots to realize the transportation ability that cannot be achieved by one robot. In the cooperative control, external force detection from the environment is important to enhance the adaptability of the robot. In the previous studies, force sensor was used for each robot, and it was possible to transport even when an external force is applied to the robot. However, the cost increases as the number of robots used increases. Therefore, this paper proposes compliance control that enables transport with reduced force fluctuation without external force sensor. Position control and sensorless force control are assigned to each robot, and when an external force is applied to sensorless force control robot, the control method is switched between the robots to realize the fluctuation suppression of the grasping force.

Original languageEnglish
Title of host publicationProceedings of the 7th Asia International Symposium on Mechatronics - Volume I
EditorsBaoyan Duan, Kazunori Umeda, Woonbong Hwang
PublisherSpringer Verlag
Number of pages7
ISBN (Print)9789813294363
Publication statusPublished - 2020 Jan 1
Event7th Asia International Symposium on Mechatronics, AISM 2019 - Hangzhou, China
Duration: 2019 Sept 192019 Sept 22

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference7th Asia International Symposium on Mechatronics, AISM 2019


  • Cooperative transport
  • Force control
  • Switching control mode

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering


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