On generation of avoiding motion of robots which co-exist and cooperate with human (1st report, stochastic prediction of human motion and avoidance planning of manipulators

Satoshi Tadokoro, Yutaka Ishikawa, Tomoaki Takebe, Toshi Takamori

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper proposes a control model for safety of human cooperative robots. Human motion is stochastically predicted by a Markov process model. Simulation results of the prediction corresponded to real human motion. Future dangerousness is estimated by using the predicted motion. Robot speed is changed in order to minimize the danger. Simulation results of the avoidance revealed that this control model is effective especially because prediction errors cannot cause extremely dangerous condition unlike by algorithms based on deterministic prediction.

Original languageEnglish
Pages (from-to)2329-2336
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume62
Issue number598
DOIs
Publication statusPublished - 1996 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'On generation of avoiding motion of robots which co-exist and cooperate with human (1st report, stochastic prediction of human motion and avoidance planning of manipulators'. Together they form a unique fingerprint.

  • Cite this