Power-assistant platform taking environmental disturbance into account

Akihisa Nagami, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

9 被引用数 (Scopus)


This paper proposes a power-assistant platform which is a mobile robot driven by two different wheels. It has also two casters, and an operation handle to apply pushing and pulling force to the robot. The applied force is detected by two force sensors mounted on the handling bar. Then the detected force is utilized to determine the driving torque of the robot. This makes it possible to control the robot motion by an operator independently of the weight of loaded objects. Furthermore this paper deals with a compensation of environmental disturbance to realize a smooth operational motion of the robot. Several experimental results are shown to confirm the validity of the proposed approach.

出版ステータスPublished - 2000

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学


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