Control of human cooperative robots based on stochastic prediction of human motion

S. Tadokoro, T. Takebe, Y. Ishikawa, T. Takamori

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

3 Citations (Scopus)

Abstract

The authors propose a control model for human cooperative robots. In this model, the future human position is predicted on the basis of the measured human motion by a human recognition system. Robot trajectories are modified to improve safety which is computed using the prediction result. In this paper, a prediction method of stochastic process is adopted for the control model. In a room which is divided into square cells, a human state variable (cell number, direction and speed of motion) is stochastically made transitions as a Markov process. Simulation was performed for a room where a man and a robot are working together. The results demonstrated that the stochastic prediction is very effective for planning robot trajectories against danger, by which the robot can predict danger much earlier than by using the deterministic prediction method.

Original languageEnglish
Title of host publicationProceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages387-392
Number of pages6
ISBN (Electronic)0780314077, 9780780314078
DOIs
Publication statusPublished - 1993 Jan 1
Externally publishedYes
Event2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993 - Tokyo, Japan
Duration: 1993 Nov 31993 Nov 5

Publication series

NameProceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993

Conference

Conference2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
CountryJapan
CityTokyo
Period93/11/393/11/5

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Communication

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