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In this paper, we propose distributed robot helpers (DR helpers) and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The DR helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled as if it has a caster-like mechanism. The adaptive dual caster action is proposed to improve the maneuverability of the system. Multiple DR helpers could transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using multiple DR helpers will illustrate the validity of the proposed control system.
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Hirata et al. (2002) studied this question.
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