Collision force suppression by human-friendly robots with passively movable base

Hun ok Lim, Kazuhito Yokoi, Atsuo Takanishi, Kazuo Tanie

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

This paper presents human safety mechanisms of a Human Friendly Robot (HFR) capable of coexisting with human beings. In order to realize human safety, the HFR is required to be composed of an elastic material-covered manipulator and a passive viscoelastic trunk mounted on a passively movable base like a human's structure. During an expected or unexpected collision/contact between the HFR and its environment, the produced collision/contact forces are extremely attenuated by the combination motion of the passive viscoelastic trunk and passively movable base. The collision-tolerant control algorithm has been developed for the end-effector of the HFR to maintain its desired task during the expected and unexpected collision. Results of collision experiments show that the compliant trunk and movable base are effective mechanisms of suppressing collision forces, and the control algorithm is an effective method of positioning the end-effector.

Original languageEnglish
Pages1039-1044
Number of pages6
Publication statusPublished - 1999 Dec 1
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Lim, H. O., Yokoi, K., Takanishi, A., & Tanie, K. (1999). Collision force suppression by human-friendly robots with passively movable base. 1039-1044. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .