TY - JOUR
T1 - Manipulative difficulty index of a mobile robot with multiple trailers in pushing and towing with imperfect measurement
AU - Li, Wen
AU - Tsubouchi, Takashi
AU - Yuta, Shin'ichi
PY - 2000/12/3
Y1 - 2000/12/3
N2 - A quantitative evaluation method of manipulative difficulty for a tractor pushing or towing multiple trailers is introduced in this paper. A Manipulative Difficulty Index (MDI) thinking about imperfect measurement is proposed by the present authors. This difficulty varies if physical parameters such as the position of the joint or the number of the trailers is changed. The authors focus on this change when some state variables have measurement errors in this paper. Also, quantitative comparisons for typical examples of the change of physical parameters of tractor-trailers under the above case are presented.
AB - A quantitative evaluation method of manipulative difficulty for a tractor pushing or towing multiple trailers is introduced in this paper. A Manipulative Difficulty Index (MDI) thinking about imperfect measurement is proposed by the present authors. This difficulty varies if physical parameters such as the position of the joint or the number of the trailers is changed. The authors focus on this change when some state variables have measurement errors in this paper. Also, quantitative comparisons for typical examples of the change of physical parameters of tractor-trailers under the above case are presented.
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M3 - Conference article
AN - SCOPUS:0033685616
SN - 1050-4729
VL - 3
SP - 2264
EP - 2269
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - ICRA 2000: IEEE International Conference on Robotics and Automation
Y2 - 24 April 2000 through 28 April 2000
ER -