書誌事項
- タイトル別名
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- Cooperative Motion Generation Method for Human-robot Cooperation to deal with Environmental/Task Constraints
- サギョウ コウソク カンキョウ コウソク ニ テキオウ カノウナ ニンゲン キョウチョウガタ ロボット ノ キョウチョウ ドウサ セイセイ シュホウ
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抄録
We propose a cooperative motion generation method based on the haptic interaction between robots and human beings for the cooperation of robots with human beings. There are lot of problems in the human-robot haptic interaction, such as self-collisions, collisions with obstacles, and limitation of the range of joint movements. We had proposed the self-collision avoidance motion generation method for robot cooperation with human beings in our previous study. In this study, we focus on the range of joint movements of robots in order to deal with the environmental/task constraints and also to prevent self-collisions. By considering the range of joint movements, the robot could also avoid the limitation of the range of the joint movement, as well as self-collisions. Additionally, by appropriately setting the range of movements of the mobile base of robots, we can generate the cooperative motion in robots, which may assist in dealing with the environmental/task constraints. The proposed method is employed in a human-friendly robot referred to as “MR Helper,” and some experiments are carried out for validating the method.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 27 (2), 221-229, 2009
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702941312
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- NII論文ID
- 10024789753
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 10220957
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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
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可