Cooperative Motion Generation Method for Human-robot Cooperation to deal with Environmental/Task Constraints
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- Seto Fumi
- Future Robotics Technology Center, Chiba Institute of Technology
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- Hirata Yasuhisa
- Tohoku University
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- Kosuge Kazuhiro
- Tohoku University
Bibliographic Information
- Other Title
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- 作業拘束・環境拘束に適応可能な人間協調型ロボットの協調動作生成手法
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 27 (2), 221-229, 2009
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679702941312
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- NII Article ID
- 10024789753
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 10220957
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed