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Demonstrates collision avoidance in multi-layered robots, indicating effective control methods.
In this paper, a mutual control method is proposed for multi-layered non-contact impedance model-based mobile robots. In the proposed system, the motion priority is set to the robot, and the stiffness, viscosity, and inertia parameters of the non-contact impedance model are changed appropriately according to the priority value allowing the robots to avoid collisions with each other and obstacles at the same time. In the experiment, two mobile robots one controlled by electromyogram signals were prepared and operated to intersect. The other mobile robot automatically stopped and resumed its movement in response to the EMG-controlled robot with high priority, indicating that the proposed method can be used to control multiple robots.
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Sasaki et al. (2022) studied this question.
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