History of Robotics Research and Development of Japan2000ManipulationHandling of a Single Object by Distributed Robot Helpers in Cooperation with a Human

Yasuhisa Hirata	Tohoku University
Kazuhiro Kosuge	Tohoku University
Hajime Asama	The University of Tokyo
Hayato Kaetsu	RIKEN
Kuniaki Kawabata	RIKEN

If robots could do tasks together with a human/humans, robots could be applied to not only the industrial filed but also the other fields such as applications in a house, in a hospital, in a shopping center, and so on. Although the mobility of the robot is the important function to cover a large working space in an environment, a single mobile robot is not suitable for handling a large and heavy object, because there is a limitation with respect to the size and the weight of an object handled by the single robot. To overcome this problem, we consider a human-robot cooperation using multiple mobile robots. In this research, we propose a concept of a human-robots cooperation system referred to as distributed robot helpers and a decentralized control algorithm for multiple mobile robot helpers to handle an object with a human/humans. 19th RSJ Best Paper Award in 2005. RSJ Young Investigation Excellence Award in 2001. JSME Medal for Outstanding Paper in 2005. Original Paper Award of the FANUC FA and Robot Foundation in 2006.

人間と複数の移動ロボットによる物体ハンドリング — Object Handling by Multiple Mobile Robots in Cooperation with a Human

人間と複数の移動マニピュレータによる物体ハンドリング — Object Handling by Multiple Mobile Manipulators in Cooperation with a Human

複数の双腕型移動ロボットによる物体ハンドリング — Object Handling by Multiple Mobile Robots with Dual Manipulators

複数の移動ロボットによる車両搬送システム — Car Transportation System by Multiple Mobile Robots

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