Collision Avoidance Control of Human-Symbiotic Robot
-
- HOSODA Yuji
- Hitachi, Ltd. Mechanical Engineering Research Laboratory
-
- YAMAMOTO Kenjirou
- (株)日立製作所 機械研究所
-
- ICHINOSE Ryouko
- (株)日立製作所 機械研究所
-
- EGAWA Saku
- (株)日立製作所 機械研究所
-
- TAMAMOTO Junichi
- (株)日立製作所 機械研究所
-
- TSUBOUCHI Takashi
- 筑波大学大学院 システム情報工学研究科
Bibliographic Information
- Other Title
-
- 人間共生ロボットの衝突回避制御
Abstract
A real-time collision-avoidance algorithm for human-symbiotic robot that is required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot—called “EMIEW”—using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s - speed. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is less than 4 ms.
Journal
-
- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
-
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 77 (775), 1051-1061, 2011
The Japan Society of Mechanical Engineers
- Tweet
Details 詳細情報について
-
- CRID
- 1390282681363357312
-
- NII Article ID
- 130000873812
-
- ISSN
- 18848354
- 03875024
-
- Data Source
-
- JaLC
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed