Study on cooperative motion between a robot and a human

本研究的目标是在机器人和人之间进行平滑的合作运动；在机器人和人类之间传递和携带物体。本研究进行如下：1。通过对两个人的递送运动的分析，表明抓取力是基于作用于手的垂直力来控制的。使用实现该算法的机器人手，将物体传递给人，并且确保运动像两个人一样顺利执行。此外，利用机器人机械手，对抱出物体的轨迹规划进行了主观评价。在分析两个人搬运物体的基础上，提出了一种机器人的变阻抗控制模型。低速运动时具有高阻抗，高速运动时具有低阻抗。通过人与机器人的实验，验证了该方法的有效性。利用卡尔曼滤波算法开发了一种手部运动测量系统。该系统具有预测1/30.4秒前手部运动的性能。在轨迹规划方面，提出了一种人工操作机器人的实时规划方法。在这种方法中，需要对人进行训练，以便能够执行所需的任务。结果表明，控制杆的可操作性对减少训练量具有重要意义。然后，为了缩短训练时间，提出了一种迭代修正方法，并验证了其有效性。利用皮肤电反射和肌电图，对上述方法产生的机器人运动进行了实验评价。结果表明，在与机器人的合作任务中，人的心理状态是可以被评估的。在本研究中，构建了一个机器人与人合作的框架。下一个问题是对上述子群进行积分，并对它们进行整体评价。

The target of this research is to execute a smooth cooperative motion between a robot and a human ; delivering and carrying an object between a robot and a human. This research is proceeded as follows.1. In the analysis of delivery motion by two humans, it is shown that the grasping force is controlled based on the vertical force acted to the hand. Using a robot hand in which the algorithm is implemented, the delivery of an object to a human is performed and the motion is sure to be executed smoothly like two humans. Moreover, using a robot manipulator, trajectory planning of holding out the object is evaluated subjectively.2. Based on the analysis of carrying an object by two humans, a variable impedance model for the control of a robot is proposed. It has high impedance in low speed movement and low impedance during high speed. The effectiveness of this method is verified in the experiment performed by a human and a robot in which the proposed method is implemented.3. A system for measuring a human hand motion is developed using the Kalman Filter algorithm. The system has the performance of forecasting the hand motion before second of 1/30.4. For the trajectory planning, a real time planning method in which a human operates the robot is proposed. In this method, the human is required for training so as to be able to perform a required task. It is shown that maneuverability of a control stick is of importance to reduce the training. Then, to shorten the training time, an iterative modification method is proposed and the effectiveness is shown.5. Using Galvanic Skin Reflex and Electromyogram, robot motions created by the above methods are evaluated experimentally. The results show that the state of human mind in the cooperation task with the robot can be evaluated. In this research, a framework for the cooperation between a robot and a human is constructed. Next problem is to integrate the above subgroups and to evaluate them on the whole.