Modal system design of multirobot systems by interaction mode control

Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticlepeer-review

175 Citations (Scopus)


Motion control technology in an open environment will be more important. Future motion systems should interact with other systems or environments. To adapt to complicated environments and do tasks, a realization of multi-degree-of-freedom motion is necessary for human cooperating motion. This paper proposes a unified control approach for multirobot systems by interaction mode control. The proposed interaction mode control considers only interactions between systems. The interactions are abstracted by using mode quarry matrices. Since the transformed modes are independent of each other, it is possible to design a controller in decoupled modal space. This paper also proposes a novel control index named "hybrid ratio." Hybrid ratio is defined as the influence of external acceleration input on the acceleration response of a system. Since it is possible to realize the assigned hybrid ratio in each mode according to the task, the motion command with hybrid ratio is represented as task code. Thus, the interaction mode control is able to be treated as task kinematics. The proposed interaction mode control is applied for grasping motion by multirobot systems. The numerical and experimental results show the viability of the proposed method.

Original languageEnglish
Pages (from-to)1537-1546
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number3
Publication statusPublished - 2007 Jun
Externally publishedYes


  • Acceleration control
  • Disturbance observer
  • Haptics
  • Hybrid control
  • Interaction mode control
  • Modal decomposition
  • Motion control
  • Multirobot systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Modal system design of multirobot systems by interaction mode control'. Together they form a unique fingerprint.

Cite this