Real-time self-collision avoidance using RoBE for human-friendly robot

Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata

研究成果: Article査読

3 被引用数 (Scopus)

抄録

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)". 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.

本文言語English
ページ(範囲)1826-1831
ページ数6
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
72
6
DOI
出版ステータスPublished - 2006 6
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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