Manipulative difficulty of a mobile robot pushing and towing multiple trailers

Wen Li, Takashi Tsubouchi, Shin'ichi Yuta

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


The change of difficulty in manipulating a tractor pushing or towing multiple trailers is investigated in this paper. This difficulty varies if physical parameters such as the position of the joint or the number of the trailers is changed. The present authors focus on this change. A quantitative measure of the manipulative difficulty [manipulative difficulty index (MDI)] of tractor-trailers system is introduced. In addition, quantitative comparisons of typical examples of the changes of the physical parameters of tractor-trailers are presented.

Original languageEnglish
Pages (from-to)169-183
Number of pages15
JournalAdvanced Robotics
Issue number3
Publication statusPublished - 2000 Dec 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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