Human-Robot Cooperative Handling Using Variable Virtual Nonholonomic Constraint

In proposing variable nonholonomic constraint for cooperative human-robot handling, we deal with non-holonomic wheel movement manipulated intuitively by the use. We propose implementing virtual nonholo-nomic constraint in robot grasping, enabling users to transfer objects, similar to using a wheelbarrow, without slipping. Transporting objects accurately in a fixed constraint point requires skill, so we propose prepar-ing multiple constraint points to be selected based on the situation. We apply this to a mobile manipulator, confirming feasibility experimentally.