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• W2050152439 abstract "Abstract In this paper, we introduce a passive mobile robot called prototype Caster-Type Passive Robot Porter (C-PRP), which is developed on the basis of a concept of passive robotics. This mobile robot consists of two casters with servo brakes and one passive rigid wheel. Prototype C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. We derive the feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. This paper especially focuses on a fundamental motion control algorithm based on the feasible braking force/moment. We realize the path tracking function and the collision avoidance function as examples by applying the proposed algorithm to prototype C-PRP. These functions are implemented to prototype C-PRP actually, and experimental results confirm its validity." @default.
• W2050152439 created "2016-06-24" @default.
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• W2050152439 date "2012-07-01" @default.
• W2050152439 modified "2023-09-27" @default.
• W2050152439 title "Motion Control of Caster-Type Passive Mobile Robot with Servo Brakes" @default.
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• W2050152439 doi "https://doi.org/10.1080/01691864.2012.689728" @default.
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