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- Publisher Website: 10.1109/IROS.2005.1544958
- Scopus: eid_2-s2.0-79957976534
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Conference Paper: Self-collision avoidance motion control for human robot cooperation system using RoBE
Title | Self-collision avoidance motion control for human robot cooperation system using RoBE |
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Authors | |
Keywords | Mobile manipulator RoBe Self-collision Human robot cooperation |
Issue Date | 2005 |
Citation | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 3143-3148 How to Cite? |
Abstract | We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self-collision avoidance motion. © 2005 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302867 |
DC Field | Value | Language |
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dc.contributor.author | Seto, Fumi | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.date.accessioned | 2021-09-07T08:42:44Z | - |
dc.date.available | 2021-09-07T08:42:44Z | - |
dc.date.issued | 2005 | - |
dc.identifier.citation | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 3143-3148 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302867 | - |
dc.description.abstract | We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self-collision avoidance motion. © 2005 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS | - |
dc.subject | Mobile manipulator | - |
dc.subject | RoBe | - |
dc.subject | Self-collision | - |
dc.subject | Human robot cooperation | - |
dc.title | Self-collision avoidance motion control for human robot cooperation system using RoBE | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2005.1544958 | - |
dc.identifier.scopus | eid_2-s2.0-79957976534 | - |
dc.identifier.spage | 3143 | - |
dc.identifier.epage | 3148 | - |