Motion generation method for human-robot cooperation to deal with environmental/task constraints

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

1 Citation (Scopus)

Abstract

We have proposed a real-time self-collision avoidance motion generation method for the mobile manipulator which is used for human-robot cooperation using "RoBE (Representation of Body by Elastic elements)". Furthermore, we have proposed the cooperating motion generation method which considers range of joint movement of the robot to deal with environmental/task constraints in human-robot cooperation. In this paper, we apply the proposed cooperative motion generation method to the real human-friendly robot referred to as "MR Helper". Because of the consideration of range of joint movement, the cooperative motions which could deal with task/environmental constraints could be generated on MR Helper while cooperating with a human. Some experiments are also done for illustrating the validity of the proposed cooperative motion generation method.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PublisherIEEE Computer Society
Pages646-651
Number of pages6
ISBN (Print)9781424417582
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: 2007 Dec 152007 Dec 18

Publication series

Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Other

Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
CountryChina
CityYalong Bay, Sanya
Period07/12/1507/12/18

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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