In this video, a mobile robot helper referred to as Mr. Helper is proposed. Mr. Helper consists of two 7-DOF manipulators and an omni-directional mobile base. The omnidirectional mobile base is the VUTON mechanism. In this system, a human and Mr. Helper communicate with each other by intentional force. That is, a human manipulates an object by applying intentional force/torque to the object.
We design an impedance controller for each manipulator, so that the object manipulated by both arms has a specified impedance around a specified compliance center.
Refrence: ICRA 2000 Video Abstracts.
