Human robot interference adapting control coordinating human following and task execution

Hiroyasu Iwata*, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ2879-2885
ページ数7
出版ステータスPublished - 2004 12 1
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9 282004 10 2

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
3

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
国/地域Japan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • 工学(全般)

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