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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Autonomous Control for Human-Robot Interaction on Complex Rough Terrain
verfasst von : Mahmoud Mustafa, Alex Ramirez-Serrano
Erschienen in: Intelligent Robotics and Applications
Verlag: Springer Berlin Heidelberg
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Cooperation control between human’s and mobile manipulators has received big interest in the last few years. Mobile manipulators (MMs) have been suggested for various applications such as tasks involving hazardous environments, explosive handling, waste management, outdoor exploration and space operations. This paper describes a novel control algorithm for human-MM cooperation executing tasks in rough outdoor terrains. The proposed approach uses inexpensive common MM sensors such as wrist force/torque, IMU and joint/wheel encoders to achieve minimal human effort. The paper describes a control mechanism that enables ground mobile manipulators to execute complex tasks in cooperation with humans or other autonomous robots when working in unknown, dynamic heterogeneous outdoor rough terrains/environments. Simulation tests using a detailed SIMMECHANICS/ SIMULINK model of the employed MM are presented to illustrate and show the performance of the developed mechanisms.