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- Publisher Website: 10.1109/ROBIO.2007.4522238
- Scopus: eid_2-s2.0-49249117373
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Conference Paper: Motion generation method for human-robot cooperation to deal with environmental/task constraints
Title | Motion generation method for human-robot cooperation to deal with environmental/task constraints |
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Authors | |
Keywords | Range of joint movement Self-collision avoidance Human-robot cooperation RoBE |
Issue Date | 2007 |
Citation | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, 2007, p. 646-651 How to Cite? |
Abstract | We have proposed a real-time self-collision avoidance motion generation method for the mobile manipulator which is used for human-robot cooperation using "RoBE (Representation of Body by Elastic elements)". Furthermore, we have proposed the cooperating motion generation method which considers range of joint movement of the robot to deal with environmental/task constraints in human-robot cooperation. In this paper, we apply the proposed cooperative motion generation method to the real human-friendly robot referred to as "MR Helper". Because of the consideration of range of joint movement, the cooperative motions which could deal with task/environmental constraints could be generated on MR Helper while cooperating with a human. Some experiments are also done for illustrating the validity of the proposed cooperative motion generation method. © 2008 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302811 |
DC Field | Value | Language |
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dc.contributor.author | Seto, Fumi | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:37Z | - |
dc.date.available | 2021-09-07T08:42:37Z | - |
dc.date.issued | 2007 | - |
dc.identifier.citation | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, 2007, p. 646-651 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302811 | - |
dc.description.abstract | We have proposed a real-time self-collision avoidance motion generation method for the mobile manipulator which is used for human-robot cooperation using "RoBE (Representation of Body by Elastic elements)". Furthermore, we have proposed the cooperating motion generation method which considers range of joint movement of the robot to deal with environmental/task constraints in human-robot cooperation. In this paper, we apply the proposed cooperative motion generation method to the real human-friendly robot referred to as "MR Helper". Because of the consideration of range of joint movement, the cooperative motions which could deal with task/environmental constraints could be generated on MR Helper while cooperating with a human. Some experiments are also done for illustrating the validity of the proposed cooperative motion generation method. © 2008 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO | - |
dc.subject | Range of joint movement | - |
dc.subject | Self-collision avoidance | - |
dc.subject | Human-robot cooperation | - |
dc.subject | RoBE | - |
dc.title | Motion generation method for human-robot cooperation to deal with environmental/task constraints | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBIO.2007.4522238 | - |
dc.identifier.scopus | eid_2-s2.0-49249117373 | - |
dc.identifier.spage | 646 | - |
dc.identifier.epage | 651 | - |