Robot arm surface covers for Physical Interference adapting motion

Hiroyasu Iwata*, Hayato Hoshino, Yoshihito Adachi, Shigeki Sugano

*この研究の対応する著者

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

This paper proposes robot arm surface covers developed to detect various information of Physical Interference (PIF) with human. First, PIF information for precisely recognizing PIF was specified. Next, humanoid arm surface covers for detecting the PIF information were designed and developed. Also, a method for not only behaving adaptively to human but also realizing task completeness is described. Finally, an evaluation experiment was carried out in a situation where a humanoid WENDY with the surface covers is holding a cup filled with contents. Various PIF forces are applied to the robot. The arm was controlled to absorb the PIF forces not to spill the contents. The result of the experiment shows that the task completeness is achieved as well as PIF adapting motions and the validity of the developed arm surface covers for PIF adaptation with human was confirmed.

本文言語English
ページ671-676
ページ数6
出版ステータスPublished - 1999 12 1
イベントProceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) - Atlanta, GA, USA
継続期間: 1999 9 191999 9 23

Other

OtherProceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99)
CityAtlanta, GA, USA
Period99/9/1999/9/23

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 サイエンスの応用
  • 電子工学および電気工学

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