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- Publisher Website: 10.1299/kikaic.72.1826
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Article: 人間協調型ロボットにおけるRoBEを用いた実時間自己衝突回避
Title | 人間協調型ロボットにおけるRoBEを用いた実時間自己衝突回避 Real-time self-collision avoidance using RoBE for human-friendly robot |
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Authors | |
Keywords | Self-collision Avoidance RoBE Moving Robot Manipulator Mobile Manipulator Robot |
Issue Date | 2006 |
Citation | 日本機械学会論文集C編, 2006, v. 72, n. 718, p. 1826-1831 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2006, v. 72, n. 718, p. 1826-1831 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)". 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. |
Persistent Identifier | http://hdl.handle.net/10722/302755 |
ISSN | 2019 SCImago Journal Rankings: 0.104 |
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 | 2021-09-07T08:42:31Z | - |
dc.date.available | 2021-09-07T08:42:31Z | - |
dc.date.issued | 2006 | - |
dc.identifier.citation | 日本機械学会論文集C編, 2006, v. 72, n. 718, p. 1826-1831 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2006, v. 72, n. 718, p. 1826-1831 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302755 | - |
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)". 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. | - |
dc.language | jpn | - |
dc.relation.ispartof | 日本機械学会論文集C編 | - |
dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
dc.subject | Self-collision Avoidance | - |
dc.subject | RoBE | - |
dc.subject | Moving Robot | - |
dc.subject | Manipulator | - |
dc.subject | Mobile Manipulator | - |
dc.subject | Robot | - |
dc.title | 人間協調型ロボットにおけるRoBEを用いた実時間自己衝突回避 | - |
dc.title | Real-time self-collision avoidance using RoBE for human-friendly robot | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.72.1826 | - |
dc.identifier.scopus | eid_2-s2.0-33748313055 | - |
dc.identifier.volume | 72 | - |
dc.identifier.issue | 718 | - |
dc.identifier.spage | 1826 | - |
dc.identifier.epage | 1831 | - |