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

Fumi Seto; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/ROBIO.2007.4522238

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

Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE Computer Society
Pages	646-651
Number of pages	6
ISBN (Print)	9781424417582
DOIs	https://doi.org/10.1109/ROBIO.2007.4522238
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China Duration: 2007 Dec 15 → 2007 Dec 18

Publication series

Name	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Other

Other	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/Territory	China
City	Yalong Bay, Sanya
Period	07/12/15 → 07/12/18

Keywords

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

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Biomaterials

Access to Document

10.1109/ROBIO.2007.4522238

Cite this

Seto, F., Hirata, Y., & Kosuge, K. (2007). Motion generation method for human-robot cooperation to deal with environmental/task constraints. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (pp. 646-651). [4522238] (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2007.4522238

Motion generation method for human-robot cooperation to deal with environmental/task constraints. / Seto, Fumi; Hirata, Yasuhisa; Kosuge, Kazuhiro.

2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. p. 646-651 4522238 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Seto, F, Hirata, Y & Kosuge, K 2007, Motion generation method for human-robot cooperation to deal with environmental/task constraints. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522238, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE Computer Society, pp. 646-651, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 07/12/15. https://doi.org/10.1109/ROBIO.2007.4522238

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title = "Motion generation method for human-robot cooperation to deal with environmental/task constraints",

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.",

keywords = "Human-robot cooperation, Range of joint movement, RoBE, Self-collision avoidance",

author = "Fumi Seto and Yasuhisa Hirata and Kazuhiro Kosuge",

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doi = "10.1109/ROBIO.2007.4522238",

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note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 15-12-2007 Through 18-12-2007",

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AU - Seto, Fumi

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

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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

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

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Keywords

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