Stochastic prediction of human motion and control of robots in the service of human

Satoshi Tadokoro, Tomoaki Takebe, Yutaka Ishikawa, Toshi Takamori

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

8 Citations (Scopus)

Abstract

The authors propose a control model for human cooperative robots. According to human motion which is measured by a human recognition system, future human position is predicted. Robot trajectories are changes by acceleration/deceleration/stop so as to minimize danger, which is computed by the predicted data. In this paper, a model of stochastic process is adopted for the prediction because it can prevent inappropriate robot motion which might be caused by prediction error. A prediction plane is divided into square cells. Each cell has probability data by which cell number, direction and speed change. They are determined by the characteristics of motion of places beforehand. Computation of stochastic state transition chain predicts probability that human exists in a cell at future time. Application to a laboratory room demonstrated that this method is effective for safe motion of human cooperative robots.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Editors Anon
PublisherPubl by IEEE
Pages503-508
Number of pages6
Volume1
ISBN (Print)0780309111
Publication statusPublished - 1993 Dec 1
Externally publishedYes
EventProceedings of 1993 International Conference on Systems, Man and Cybernetics - Le Touquet, Fr
Duration: 1993 Oct 171993 Oct 20

Other

OtherProceedings of 1993 International Conference on Systems, Man and Cybernetics
CityLe Touquet, Fr
Period93/10/1793/10/20

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

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