Motion generation method for human-robot cooperation to deal with environmental/task constraints

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

We have proposed a real-time self-collision avoidance motion generation method for the mobile manipulator which is used for human-robot cooperation using "RoBE (Representation of Body by Elastic elements)". Furthermore, we have proposed the cooperating motion generation method which considers range of joint movement of the robot to deal with environmental/task constraints in human-robot cooperation. In this paper, we apply the proposed cooperative motion generation method to the real human-friendly robot referred to as "MR Helper". Because of the consideration of range of joint movement, the cooperative motions which could deal with task/environmental constraints could be generated on MR Helper while cooperating with a human. Some experiments are also done for illustrating the validity of the proposed cooperative motion generation method.

本文言語English
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
出版社IEEE Computer Society
ページ646-651
ページ数6
ISBN(印刷版)9781424417582
DOI
出版ステータスPublished - 2007
イベント2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
継続期間: 2007 12 152007 12 18

出版物シリーズ

名前2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Other

Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
CountryChina
CityYalong Bay, Sanya
Period07/12/1507/12/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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