1A1-D03 作業対象物が持つ固有動特性を運動規範とする人間-ロボット協調作業システムの開発(人間機械協調)

概要

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This paper presents the development of a novel human-robot cooperative task system, which consists of a proposed 3D positional deflection measurement device and an ordinary robot motion controller. The proposed device and the motion control strategy, which is called an inherent dynamics based control, enable a human operator to interact with a robot intuitively. Relative motion deflection (i.e., relative positional deflection) between the human operator and the robot is detected by the proposed measurement device. The robot motion controller generates motion command in proportion to the detected motion deflection. To confirm the performance of the proposed system, the human-robot cooperative interaction experiment is carried out. The experimental results show that the proposed system is effective for the human-robot dynamical interaction.
2008-06-06