Dodging control - A model of efficient obstacle-avoidance behavior

Kenji Suzuki, Shuji Hashimoto

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

    1 Citation (Scopus)

    Abstract

    In this paper, we introduce an efficient avoiding action - dodging control - for a mobile robot. We have been developing a robotic vehicle with an articulated arm. The robot is designed to move around a U-shaped cell in a factory and to work together with people. In physical contact with people, robots are expected to be controlled to reduce the contact force with people or other objects in order to ensure the safe and reliable operation. Unlike the conventional avoidance action such as force following control, the proposed control aims at dodging an applied force by turning it aside, and enables a rapid returning to the work operation. We introduce the formulation of dodging motion control with some experimental results.

    Original languageEnglish
    Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
    Pages208-213
    Number of pages6
    Volume1
    Publication statusPublished - 2004
    Event2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet
    Duration: 2004 Dec 82004 Dec 10

    Other

    Other2004 IEEE International Conference on Industrial Technology, ICIT
    CityHammamet
    Period04/12/804/12/10

    Keywords

    • Danger prediction
    • Dodging motion control
    • Mobile robot
    • Obstacle-avoidance behavior
    • Robot arm

    ASJC Scopus subject areas

    • Electronic, Optical and Magnetic Materials
    • Software
    • Industrial and Manufacturing Engineering

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  • Cite this

    Suzuki, K., & Hashimoto, S. (2004). Dodging control - A model of efficient obstacle-avoidance behavior. In Proceedings of the IEEE International Conference on Industrial Technology (Vol. 1, pp. 208-213)