Dodging control - A model of efficient obstacle-avoidance behavior

Kenji Suzuki, Shuji Hashimoto

    研究成果: Conference contribution

    1 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings of the IEEE International Conference on Industrial Technology
    ページ208-213
    ページ数6
    1
    出版ステータスPublished - 2004
    イベント2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet
    継続期間: 2004 12 82004 12 10

    Other

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

    ASJC Scopus subject areas

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

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