Control of manipulator/vehicle system for man-robot cooperation based on human intention

Yoshio Fujisawa, Toshio Fukuda, Kazuhiro Kosuge, Fumihito Arai, Eiji Muro, Haruo Hoshino, Takashi Miyazaki, Kazuhiko Ohtsubo, Kazuo Uehara

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

2 Citations (Scopus)

Abstract

In this paper, we propose a control method for the Manipulator/Vehicle System for Man-Robot Cooperation. The manipulator/vehicle system has the redundant degrees of freedom. In order to control the system, we have to decompose the motion of the endeffector in the inertial coordinate system into the vehicle's motion and the manipulator's motion because the motion of the endeffector with respect to the inertial coordinate system is realized by both the manipulator's motion and the vehicle's motion. How to decompose the endeffector's motion is one of the key issues for the manipulator/vehicle system. If one wants to move the system to another place, the motion of the endeffector should be realized by the vehicle's motion. On the other hand, if one wants to manipulate an object, the motion of the endeffector should be done by the manipulator's motion. That is, the decomposition of the endeffector's motion in the inertial coordinate system should be done based on the human intention. The control method, which is proposed in this paper, controls the motion of the manipulator and the motion of the vehicle based on the operator's intention modelled by fuzzy rules. The experimental results illustrates the effectiveness of the proposed control method for the manipulator/vehicle system for man-robot cooperation.

Original languageEnglish
Title of host publication1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages188-193
Number of pages6
ISBN (Electronic)0780307534, 9780780307537
DOIs
Publication statusPublished - 1992 Jan 1
Externally publishedYes
Event1992 IEEE International Workshop on Robot and Human Communication, ROMAN 1992 - Tokyo, Japan
Duration: 1992 Sep 11992 Sep 3

Publication series

Name1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992

Conference

Conference1992 IEEE International Workshop on Robot and Human Communication, ROMAN 1992
CountryJapan
CityTokyo
Period92/9/192/9/3

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction
  • Communication

Fingerprint Dive into the research topics of 'Control of manipulator/vehicle system for man-robot cooperation based on human intention'. Together they form a unique fingerprint.

Cite this