Human-humanoid physical interaction realizing force following and task fulfillment

H. Iwata*, H. Hoshino, T. Morita, S. Sugano

*この研究の対応する著者

研究成果: Paper査読

12 被引用数 (Scopus)

抄録

In this paper, we herein describe the control methods used for a humanoid's compliant behavior following human force and motions while fulfilling given tasks under various constraint conditions during Physical InterFerence (PIF) with a human. PIF is a form of physical interaction viewed from the robots point of view. In cases of PIF occurrence, PIF Adapting Behaviors for attenuating physical influences caused by PIF on both a human body and a robots' task are required. First, a base control method for compliantly following PIF by coordinating multiple joints of the arms and trunk is presented. By utilizing this method, PIF force produced on several areas of the robot's entire body is efficiently reduced. Next, the control methods for fulfilling given tasks, as well as following PIF at the same time, are proposed. In these methods, the idea is incorporated that if the utilization of redundancy is needed for task fulfillment or constraint conditions and attributes of the given task are changed, the role of each joint needs to change as well. Adapting to the diversity of task attributes and also the necessity of utilizing redundancy, the proposed control methods enable the robots to realize both force following and task fulfillment at the same time. Finally, from the evaluation of the experiments, it was confirmed that the proposed methods realize a humanoid's capability of compliantly adapting to human motions while fulfilling tasks by efficiently utilizing redundancy.

本文言語English
ページ522-527
ページ数6
出版ステータスPublished - 2000 12 1
イベント2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
継続期間: 2000 10 312000 11 5

Conference

Conference2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域Japan
CityTakamatsu
Period00/10/3100/11/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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