Construction of human-robot cooperating system based on structure/motion model

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The purpose of this study is constructing a unified methodology which could deal with many control problems existing in human-robot cooperating systems such as self-collision, collisions with obstacles, singular configurations and so on. To construct such methodology, we could realize safe and highly maneuverable human-robot cooperation as well as human-human cooperation. For this purpose, we propose a concept of "Structure/Motion Models" which represents the structures and their motions of robots, objects in the environment and the partner for the cooperation (humans). In this paper, we explain "RoBE (Representation of Body by Elastic elements)", one of the modeling methods to construct structure/motion models. Constructing the models by using RoBE, we could deal with the problems of self-collisions and collisions with obstacles with a unified approach. We explain how to solve these control problems as the examples of solving some problems during the human-robot cooperation by using the structure-motion models, and results of these examples illustrate the validity of the concept of the structure/motion model.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 9, IAS 2006
Pages973-980
Number of pages8
Publication statusPublished - 2006 Dec 1
Event9th International Conference on Intelligent Autonomous Systems, IAS 2006 - Tokyo, Japan
Duration: 2006 Mar 72006 Mar 9

Publication series

NameIntelligent Autonomous Systems 9, IAS 2006

Other

Other9th International Conference on Intelligent Autonomous Systems, IAS 2006
CountryJapan
CityTokyo
Period06/3/706/3/9

Keywords

  • Human-robot cooperation
  • RoBE
  • Self-collision
  • Structure/Motion Model

ASJC Scopus subject areas

  • Computer Science(all)
  • Computational Mechanics
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Construction of human-robot cooperating system based on structure/motion model'. Together they form a unique fingerprint.

Cite this