1A1-N07 人間行動モデルを用いた人間-機械協調ロボット制御系の応用(人間機械協調)

概要

論文の詳細を見る
Recently, the demand for a man-machine cooperative system is rapidly growing in industrial fields. To meet this demand, the human model has been required to design the suitable assist controller in the man-machine cooperative system. We have already presented a human behavior model based on the hybrid system. In this paper, we apply to design the man-machine cooperative robot controller of the human behavior model. At first, the human behavior model is constructed as the piece-wise ARX model by using the hierarchal clustering, the support vector machine and the least square method. Then, we obtain the responses by computing the derived human model and the robot controller dynamics. Finally, we evaluate the responses and the experimental results with the evaluate function and confirm the usefulness of the proposed modeling method.
一般社団法人日本機械学会の論文
2007-05-11