Motion generation for human-robot cooperation considering range of joint movement

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

3 Citations (Scopus)

Abstract

We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot used for human-robot cooperation. In this method, we represent the robots' body by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance could be realized based on a virtual reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, we expand this method to control not only robots' manipulator, but also its mobile base. Furthermore, we focus on the range of the joint movement of the robot, and propose the self-collision avoidance motion generation method considering it. Because of these, the self-collision motions which could deal with task/environmental constraints could be generated on the robot cooperating with a human. The proposed method is implemented in the planar 4-DOF mobile manipulator, and computer simulations are done for illustrating the validity of it.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages270-275
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Human-robot cooperation
  • Range of joint movement
  • RoBE
  • Self-collision avoidance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Motion generation for human-robot cooperation considering range of joint movement'. Together they form a unique fingerprint.

Cite this