Manipulative difficulty index of a mobile robot with multiple trailers in pushing and towing with imperfect measurement

Wen Li, Takashi Tsubouchi, Shin'ichi Yuta

Research output: Contribution to journalConference article

3 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)2264-2269
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2000 Dec 3
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28


ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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