Study on cooperative motion between a robot and a human

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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.