TY - GEN
T1 - Motion generation method for human-robot cooperation to deal with environmental/task constraints
AU - Seto, Fumi
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Human-robot cooperation
KW - Range of joint movement
KW - RoBE
KW - Self-collision avoidance
UR - http://www.scopus.com/inward/record.url?scp=49249117373&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=49249117373&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2007.4522238
DO - 10.1109/ROBIO.2007.4522238
M3 - Conference contribution
AN - SCOPUS:49249117373
SN - 9781424417582
T3 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
SP - 646
EP - 651
BT - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PB - IEEE Computer Society
T2 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Y2 - 15 December 2007 through 18 December 2007
ER -