Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots)

Satoshi Tadokoro; Masaki Hayashi; Yasuhiro Manabe; Yoshihiro Nakami; Toshi Takamori

doi:10.1299/kikaic.63.499

Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots)

Satoshi Tadokoro, Masaki Hayashi, Yasuhiro Manabe, Yoshihiro Nakami, Toshi Takamori

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

This paper presents a trajectory planning method by which human cooperative mobile robots can avoid collision with human bodies. Indefinite human motion is predicted using a stochastic predictor. Evaluation of collision risk and efficiency of trajectory are taken in account in an evaluating function. Optimization using a genetic algorithm gives the robot trajectory. The mobile robots move so as to maximize safety taking into account every possible human motion. Simulation results showed that the robot could determine appropriate trajectories avoiding danger and that reasonable trajectories were generated even if human motion unexpectedly changed.

Original language	English
Pages (from-to)	499-505
Number of pages	7
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	63
Issue number	606
DOIs	https://doi.org/10.1299/kikaic.63.499
Publication status	Published - 1997
Externally published	Yes

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.63.499

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Tadokoro, S., Hayashi, M., Manabe, Y., Nakami, Y., & Takamori, T. (1997). Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots). Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 63(606), 499-505. https://doi.org/10.1299/kikaic.63.499

Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots). / Tadokoro, Satoshi; Hayashi, Masaki; Manabe, Yasuhiro; Nakami, Yoshihiro; Takamori, Toshi.

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 63, No. 606, 1997, p. 499-505.

Research output: Contribution to journal › Article › peer-review

Tadokoro, S, Hayashi, M, Manabe, Y, Nakami, Y & Takamori, T 1997, 'Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots)', Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, vol. 63, no. 606, pp. 499-505. https://doi.org/10.1299/kikaic.63.499

Tadokoro, Satoshi ; Hayashi, Masaki ; Manabe, Yasuhiro ; Nakami, Yoshihiro ; Takamori, Toshi. / Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots). In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 1997 ; Vol. 63, No. 606. pp. 499-505.

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Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots)

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