Real-Time Self-Collision Avoidance System for Robots Using Robe
Real-Time Self-Collision Avoidance System for Robots Using Robe
复制标题
使用长袍的机器人实时防撞系统
DOI：
10.1142/s0219843604000241
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Y. Hirata
中科院分区：
文献类型：
--
作者：
Fumi Seto;K. Kosuge;Y. Hirata
在本文中，我们提出了一个实时的自我避碰系统的机器人与人类/人类合作。首先，机器人由弹性元件表示。该表示方法被称为长袍（通过弹性元素表示身体）。弹性球和圆柱体被用作简化碰撞检测的元素，尽管任何形状的元素都可以用于长袍。当两个元件彼此碰撞时，在它们之间产生反作用力，并且通过反作用力产生自碰撞避免运动。实验使用的移动的机器人与双机械手，被称为MR助手，说明所提出的系统的有效性。
In this paper, we propose a real-time self-collision avoidance system for robots which cooperate with a human/humans. First, the robot is represented by elastic elements. The representation method is referred to as RoBE (Representation of Body by Elastic elements). Elastic balls and cylinders are used as the elements to simplify collision detection, although elements of any shape could be used for RoBE. When two elements collide with each other, a reaction force is generated between them, and self-collision avoidance motion is generated by the reaction force. Experiments using the mobile robot with dual manipulators, referred to as MR Helper, illustrate the validity of the proposed system.