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

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

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

    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
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages1039-1044
    Number of pages6
    Volume2
    Publication statusPublished - 1999
    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

    Fingerprint

    Robots
    End effectors
    Manipulators
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Lim, H. O., Yokoi, K., Takanishi, A., & Tanie, K. (1999). Collision force suppression by human-friendly robots with passively movable base. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1039-1044). Piscataway, NJ, United States: IEEE.

    Collision force suppression by human-friendly robots with passively movable base. / Lim, Hun ok; Yokoi, Kazuhito; Takanishi, Atsuo; Tanie, Kazuo.

    IEEE International Conference on Intelligent Robots and Systems. Vol. 2 Piscataway, NJ, United States : IEEE, 1999. p. 1039-1044.

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

    Lim, HO, Yokoi, K, Takanishi, A & Tanie, K 1999, Collision force suppression by human-friendly robots with passively movable base. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, IEEE, Piscataway, NJ, United States, pp. 1039-1044, 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, 99/10/17.
    Lim HO, Yokoi K, Takanishi A, Tanie K. Collision force suppression by human-friendly robots with passively movable base. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2. Piscataway, NJ, United States: IEEE. 1999. p. 1039-1044
    Lim, Hun ok ; Yokoi, Kazuhito ; Takanishi, Atsuo ; Tanie, Kazuo. / Collision force suppression by human-friendly robots with passively movable base. IEEE International Conference on Intelligent Robots and Systems. Vol. 2 Piscataway, NJ, United States : IEEE, 1999. pp. 1039-1044
    @inproceedings{1da156d2501d47daba3c03bfc0527b0a,
    title = "Collision force suppression by human-friendly robots with passively movable base",
    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.",
    author = "Lim, {Hun ok} and Kazuhito Yokoi and Atsuo Takanishi and Kazuo Tanie",
    year = "1999",
    language = "English",
    volume = "2",
    pages = "1039--1044",
    booktitle = "IEEE International Conference on Intelligent Robots and Systems",
    publisher = "IEEE",

    }

    TY - GEN

    T1 - Collision force suppression by human-friendly robots with passively movable base

    AU - Lim, Hun ok

    AU - Yokoi, Kazuhito

    AU - Takanishi, Atsuo

    AU - Tanie, Kazuo

    PY - 1999

    Y1 - 1999

    N2 - 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.

    AB - 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.

    UR - http://www.scopus.com/inward/record.url?scp=0033312184&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=0033312184&partnerID=8YFLogxK

    M3 - Conference contribution

    VL - 2

    SP - 1039

    EP - 1044

    BT - IEEE International Conference on Intelligent Robots and Systems

    PB - IEEE

    CY - Piscataway, NJ, United States

    ER -