Human robot interference adapting control coordinating human following and task execution

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

    4 Citations (Scopus)

    Abstract

    It is important for human symbiotic robots working near humans to have the adaptability to reliably follow force from humans while maintaining task performance despite unexpected disturbances. Thus, in the current study we propose a coordination control method of concurrently accomplishing task execution and human following even when Physical InterFerence and contACT (PIFACT) occur with humans. First, functional requirements for the control method are specified from the viewpoints of motion-phase transition capability, time management characteristic of respective motion phase, and forms of task-performable human-following motion. Next, a control system architecture satisfying the requirements is presented. In addition, we describe a method of quantitatively representing a rule of task to process PIFACT adapting motions that allow achieving both human following and task performance according to the attributes of imposed tasks. Finally, experiments were carried out in which PIFACT was induced between humans and a full-size anthropomorphic robot equipped with the control architecture. We evaluated the results in terms of the comparison of variations of hand orientation and position while following humans during PIFACT among conditions where tasks with diverse rules were imposed on the robot. Evaluation of experiments demonstrates the proposed control architecture is useful for coordinating task execution and human following necessary for elevating human symbiotic robots.

    Original languageEnglish
    Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages2879-2885
    Number of pages7
    Volume3
    Publication statusPublished - 2004
    Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
    Duration: 2004 Sep 282004 Oct 2

    Other

    Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    CitySendai
    Period04/9/2804/10/2

    Fingerprint

    Robots
    Anthropomorphic robots
    Phase transitions
    Experiments
    Control systems

    Keywords

    • Control Architecture
    • Human Centered Robotics
    • Human Robot Interaction
    • Humanoid Robot
    • System Integration

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Iwata, H., & Sugano, S. (2004). Human robot interference adapting control coordinating human following and task execution. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 3, pp. 2879-2885)

    Human robot interference adapting control coordinating human following and task execution. / Iwata, Hiroyasu; Sugano, Shigeki.

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 3 2004. p. 2879-2885.

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

    Iwata, H & Sugano, S 2004, Human robot interference adapting control coordinating human following and task execution. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 3, pp. 2879-2885, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, 04/9/28.
    Iwata H, Sugano S. Human robot interference adapting control coordinating human following and task execution. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 3. 2004. p. 2879-2885
    Iwata, Hiroyasu ; Sugano, Shigeki. / Human robot interference adapting control coordinating human following and task execution. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 3 2004. pp. 2879-2885
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