書誌事項
- タイトル別名
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- Real-Time Self-Collision Avoidance Using RoBE for Human-Friendly Robot
- ニンゲン キョウチョウガタ ロボット ニ オケル RoBE オ モチイタ ジツジカン ジコ ショウトツ カイヒ
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抄録
We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as “RoBE (Representation of Body by Elastic elements)”. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as “MR Helper”, and experiments are done for illustrating the validity of the proposed self-collision avoidance motion.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 72 (718), 1826-1831, 2006
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681362978304
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- NII論文ID
- 130004236024
- 110004740273
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- HANDLE
- 10097/52943
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- NDL書誌ID
- 8010370
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- IRDB
- NDL
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- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可