Self-collision avoidance motion control for human robot cooperation system using RoBE
Self-collision avoidance motion control for human robot cooperation system using RoBE
复制标题
DOI：
10.1109/iros.2005.1544958
复制
发表时间：
2005-12
期刊：
影响因子：
--
通讯作者：
Fumi Seto;K. Kosuge;Y. Hirata
中科院分区：
文献类型：
--
作者：
Fumi Seto;K. Kosuge;Y. Hirata
提出了一种用于人-机器人协作的机器人实时自避碰控制方法。在这种方法中，我们使用弹性元素来表示机器人的身体，该弹性元素被称为“长袍(用弹性元素表示身体)”。在机器人实际自碰撞之前，利用弹性元件之间的接触产生的反作用力，实现机器人的自碰撞运动。本文特别考虑了自碰撞避碰运动中的任务约束和环境约束，提出了两种基于人施力/力矩的优先函数，使机器人能够在环境中完成多种任务。通过使用该控制算法，我们可以将所提出的控制算法应用于任何用于人-机器人协作的机器人系统。所提出的运动控制算法在人类友好的机器人MR Helper中实现，并通过实验验证了所提出的自避碰运动的有效性。
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)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. 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.