Self-collision avoidance motion control for human robot cooperation system using RoBE

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

26 Citations (Scopus)

Abstract

We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self-collision avoidance motion.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages3143-3148
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Human robot cooperation
  • Mobile manipulator
  • RoBe
  • Self-collision

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Seto, F., Kosuge, K., & Hirata, Y. (2005). Self-collision avoidance motion control for human robot cooperation system using RoBE. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3143-3148). [1544958] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1544958