TY - JOUR
T1 - 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
AU - Tadokoro, Satoshi
AU - Ishikawa, Yutaka
AU - Takebe, Tomoaki
AU - Takamori, Toshi
PY - 1996
Y1 - 1996
N2 - 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.
AB - 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.
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U2 - 10.1299/kikaic.62.2329
DO - 10.1299/kikaic.62.2329
M3 - Article
AN - SCOPUS:0030172778
VL - 62
SP - 2329
EP - 2336
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 598
ER -