F4-5 人間とロボットの力学的な協調を実現するインピーダンス制御法 : 安全・安心社会を創生する介護・福祉ロボットの実現を目指して(F-4 安全・安心社会創生のための医工学技術開発)

概要

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This paper describes a robot control strategy for a human-robot dynamical interaction system. In many studies, the impedance control (or the admittance control) of the motion of a robot has generally been used. The impedance control is designed to generate familiar and intuitive robot motion for a human. It is provided to enable smooth interaction between the human operator and the robot. It is expected that a nursing care or a power-assist robot system will be developed using this control strategy. These systems provide a complementary relationship between the human and the robot. In this paper, human-robot interaction systems are introduced and their control strategies are explained.
社団法人日本機械学会の論文
2007-11-25