動作開始遅れと受け取り位置を考慮したロボットから人間への物体差し出し運動生成(機械力学,計測,自動制御)

概要

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A motion of an arm robot handing an object out to a human, taking a time delay at the beginning and the position of the object to be grasped into account, is presented in this paper. The motion algorithm of the robot is constructed considering the following points. The first is the cooperation to the human receiver. The second is an introduction of a time delay at the beginning and a function which reduces the time delay gradually. The third is the realization of the desirable relative position between the robot hand and human hand. To confirm the effectiveness of the proposed motion algorithm, the experiments in which an arm robot holds a cylindrical object out to a human and the human receives the object are conducted. The experimental results show that the generated motion trajectories of the human receivers are very smooth and that the motions of the robot are psychologically acceptable to the human receivers.
2009-06-25