Human assistive control on tele-operated human-robot cooperative carrying task

摘要

This pager presents a design of control system for a cooperative transport task using multiple teleoperated mobile robots. In the proposed method, a leader-follower system consisting of a human-operated-robot and autonomous robots, motion planning by an artificial potential field method, and formation control for each robot are integrated. In this study, a remote cooperative transportation task by human and human was performed as a test case, and a problem of teleoperation using multiple robot is reaffirmed before the integration. And the formation control considering the constraint force among robots and automatically modify artificial potential filed is proposed. Performance of the proposed method was confirmed in simulation. As a result of verification with simulation using the proposed control system, it was confirmed that adequate cooperative motion was successfully realized.