Control of human cooperative robots based on stochastic prediction of human motion

S. Tadokoro, T. Takebe, Y. Ishikawa, T. Takamori

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

The authors propose a control model for human cooperative robots. In this model, the future human position is predicted on the basis of the measured human motion by a human recognition system. Robot trajectories are modified to improve safety which is computed using the prediction result. In this paper, a prediction method of stochastic process is adopted for the control model. In a room which is divided into square cells, a human state variable (cell number, direction and speed of motion) is stochastically made transitions as a Markov process. Simulation was performed for a room where a man and a robot are working together. The results demonstrated that the stochastic prediction is very effective for planning robot trajectories against danger, by which the robot can predict danger much earlier than by using the deterministic prediction method.

本文言語English
ホスト出版物のタイトルProceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
出版社Institute of Electrical and Electronics Engineers Inc.
ページ387-392
ページ数6
ISBN(電子版)0780314077, 9780780314078
DOI
出版ステータスPublished - 1993 1月 1
外部発表はい
イベント2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993 - Tokyo, Japan
継続期間: 1993 11月 31993 11月 5

出版物シリーズ

名前Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993

Conference

Conference2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
国/地域Japan
CityTokyo
Period93/11/393/11/5

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 通信

フィンガープリント

「Control of human cooperative robots based on stochastic prediction of human motion」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル