受動性に基づく人間-剛体ネットワークの動的協調制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2021/11/01

タイトル(英語): Passivity-Based Cooperative Dynamic Control for Human-Rigid Body Networks

著者名: 村尾　俊幸（金沢工業大学工学部），小塩　祐亮（金沢工業大学大学院工学研究科），河合　宏之（金沢工業大学工学部），山内　淳矢（東京大学大学院情報理工学系研究科），畑中　健志（東京工業大学工学院），藤田　政之（東京大学大学院情報理工学系研究科）

著者名(英語): Toshiyuki Murao (College of Engineering, Kanazawa Institute of Technology), Yusuke Koshio (Graduate Program in Mechanical Engineering, Kanazawa Institute of Technology), Hiroyuki Kawai (College of Engineering, Kanazawa Institute of Technology), Junya Yama

キーワード: 協調制御，人間-ロボティックネットワーク，位置姿勢同期，受動性，ロボットダイナミクス　　cooperative control，human-robotic network，pose synchronization，passivity，robot dynamics

要約(英語): This paper presents passivity-based cooperative dynamic control for human-rigid body networks. In the human-rigid body network, a human operator sends a command signal to and receives visual information from only a part of the robotic group. In this setting, the proposed dynamic control scheme achieves not only pose synchronization of all mobile robots but also convergence to the reference pose that the human operator specifies. First, we derive robot dynamics of an omni-directional mobile robot through the Newton-Euler equation. Second, we design a control input to the robots with dynamics and show the passivity property of the robot system. Next, we discuss convergence analysis of the closed-loop system through the Lyapunov stability theorem and the LaSalle's invariance principle. The main advantage of the proposed method is to guarantee convergence of not only the position but also the orientation to the reference ones in the human-rigid body network. Finally, we provide simulation results and experimental results using four ground vehicles and a tablet PC to illustrate the performance of the proposed control method.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.141 No.11 （2021） 特集：電気関係学会関西連合大会

本誌掲載ページ: 1165-1174 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/141/11/141_1165/_article/-char/ja/