Cooperative Transportation Robot System Using Risk-Sensitive Stochastic Control
Shinya Yasuda,Taichi Kumagai,Hiroshi Yoshida,Shinya Yasuda,Taichi Kumagai,Hiroshi Yoshida
We propose a method to determine control input on the basis of minimizing the risk-sensitive cost function and show the results of an experiment in which the method was applied to a cooperative transportation robot system that we have developed. In the robot system, two robots hold a work object to transport without an external fixing device. The mechanism yields the force interaction between the ...
