2P1-D12 人間共存ロボットの觝触適応行動 : 第22報:障害物回避・作業遂行のための先行的力ベクトル場を用いた人間追従との機能統合手法の提案

概要

論文の詳細を見る
We have proposed the whole-body coordination control method to allow human symbiotic robots to concurrently accomplish significant functions such as human following, task execution and obstacle collision avoidance despite physical interference and contact with humans. However, we faced on a significant problem that is this method prevents avoiding deadlocking caused by counterbalanced forces of repulsion and attraction for the functions. In this paper, then, we propose a new whole-body coordination control method using the Laplacian Potential Field that enables task performable human following consolidated with obstacle collision avoidance while avoiding deadlocking states. Evaluation experiments confirmed the proposed method is useful for multiple-jointed robots to consolidate the three functions without deadlocking in the real world.
一般社団法人日本機械学会の論文