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

INF - Applied Information Sciences

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

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.63.499

Fingerprint Dive into the research topics of 'Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots)'. Together they form a unique fingerprint.

Cite this

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.

@article{07a7eb570d044fd8b033164dadd166c6,

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

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.",

author = "Satoshi Tadokoro and Masaki Hayashi and Yasuhiro Manabe and Yoshihiro Nakami and Toshi Takamori",

year = "1997",

doi = "10.1299/kikaic.63.499",

language = "English",

volume = "63",

pages = "499--505",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "606",

}

TY - JOUR

T1 - Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots)

AU - Tadokoro, Satoshi

AU - Hayashi, Masaki

AU - Manabe, Yasuhiro

AU - Nakami, Yoshihiro

AU - Takamori, Toshi

PY - 1997

Y1 - 1997

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0031073651&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0031073651&partnerID=8YFLogxK

U2 - 10.1299/kikaic.63.499

DO - 10.1299/kikaic.63.499

M3 - Article

AN - SCOPUS:0031073651

VL - 63

SP - 499

EP - 505

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 606

ER -