2024-03-29T02:18:38Z
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2023-01-16T03:58:46Z
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Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control
Inagaki, Shinkichi
38410
Suzuki, Tatsuya
38411
Ito, Takahiro
38412
This paper presents a new control methodology for a nonholonomic electric two-wheeled vehicle wherein the autonomous and man-machine cooperative controls are synthesized. In the proposed control scheme, the dasiaautonomous controlpsila and the dasiaman-machine cooperative controlpsila are designed by synthesizing time-state control and impedance control. The time-state controller tries to reduce the machine's deviation from the guideline, the impedance controller, on the other hand, generates power to assist the operator's maneuver. Furthermore, experimental results are shown to demonstrate the usefulness of the proposed strategy.
journal article
IEEE
2009-05-12
application/pdf
IEEE International Conference on Robotics and Automation (ICRA '09)
3768
3773
http://hdl.handle.net/2237/13978
http://dx.doi.org/10.1109/ROBOT.2009.5152879
1050-4729
https://nagoya.repo.nii.ac.jp/record/12100/files/ICRA09.pdf
eng
https://doi.org/10.1109/ROBOT.2009.5152879
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