This article presents a novel semiautonomous cooperative robotic system. Information flows in the architecture are designed based on the passivity property. The human passivity needed to guarantee the control goal is demonstrated using a human-in-the-loop simulator and system identification techniques. As a solution to stable coordination via bilateral human–swarm interactions, the research group built the system consisting of multiple planar robots, an operator and a computer whose role is to implement the distributed motion synchronization law. Experimental results on remote control of the robots are finally demonstrated. A typical approach to stabilization of an interconnected system that includes a highly uncertain component like a human operator is to assume passivity of the component block. Specifically, modeling of the operator has been addressed in this manner for several studies in bilateral teleoperation. It is observed from the figures provided in the article that the robots form and maintain the specified formation while they are maneuvered stably toward the desired references by the operator.
A Passivity-Based System Design of Semi-Autonomous Cooperative Robotic Swarm
Takeshi Hatanaka is an Associate Professor with School of Engineering at Tokyo Institute of Technology, Tokyo, Japan. He received Ph.D. degree in applied mathematics and physics from Kyoto University, Japan in 2007. His research interests include networked robotics and energy management systems.
Nikhil Chopra is an Associate Professor with the Department of Mechanical Engineering, University of Maryland, College Park, MD, USA. He received Ph.D. degree in systems and entrepreneurial engineering from the University of Illinois at Urbana-Champaign in 2006. His research interests include networked control systems, cooperative control of networked robots, and bilateral teleoperation.
Junya Yamauchi is a Ph.D. student of Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology. His research interests include networked robotics.”
Mamoru Doi is a master student of Department of Systems and Control Engineering, School of Engineering, Tokyo Institute of Technology. His research interests include networked robotics.
Yasunori Kawai is an Associate Professor with the Department of Electrical Engineering at National Institute of Technology, Ishikawa College. He received Ph.D. in Department of Electrical Engineering from Kanazawa University, Japan, 2005. His research interests include model predictive control and bilateral teleoperation.
Masayuki Fujita is a Professor with School of Engineering at Tokyo Institute of Technology. He is also a Research Supervisor for Japan Science and Technology Agency Core Research for Evolutional Science and Technology. He received the Dr. of Eng. degree in Electrical Engineering from Waseda University, Tokyo, in 1987. His research interests include passivitybased control in robotics, distributed energy management systems and robust control.
Hatanaka, T., Chopra, N., Yamauchi, J., Doi, M., Kawai, Y., and Fujita, M. (June 1, 2017). "A Passivity-Based System Design of Semi-Autonomous Cooperative Robotic Swarm." ASME. Mechanical Engineering. June 2017; 139(06): S14–S18. https://doi.org/10.1115/1.2017-Jun-6
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