人間協調型農業用ロボットの外界センシングシステム　（第２報）　　人間の識別とマニピュレータの障害物回避制御

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  • External Sensing System for Human Cooperative Agricultural Robots. (Part 2). Discrimination of Human Bodies and Obstacle Avoidance Control of Manipulator.
  • ニンゲン キョウチョウガタ ノウギョウヨウ ロボット ノ ガイカイ センシング システム 2 ニンゲン ノ シキベツ ト マニピュレータ ノ ショウガイブツ カイヒ セイギョ
  • Discrimination of Human Bodies and Obstacle Avoidance Control of Manipulator
  • 人間の識別とマニピュレータの障害物回避制御

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In part 1 of this series, a sensing system consisting of a laser scanner and infrared sensors was manufactured and tested. The laser scanner was moved up and down by a lift to obtain a three-dimensional distance data, and the infrared sensors were used to detect the presence of human.<BR>In this paper, an algorithm for discriminating human bodies was investigated. From the results, discrimination was achieved even when human bodies overlapped each other crosswise with some distance between them.<BR>Furthermore, manipulator control experiments for obstacle avoidance were carried out to confirm effectiveness of the sensing system. First, the distances and the shapes of objects around a robot were measured by the laser scanner, and an avoidance motion of manipulator decided. Secondly, the manipulator moved while avoiding the object. The degree of danger was calculated when infrared sensors detected a human body around the robot, which then triggered adjustment of the speed of manipulator tip. From the experimental results, the manipulator avoided obstacles within its operating area and changed its speed according to the value of degree of danger.

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