2A1-D17 人間共存ロボットの觝触適応行動 : 第26報 : 作業拘束の段階的解除による人間追従性と作業性の両立手法

概要

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In this paper, we focus on force and motion adapting control methods to allow Human Symbiotic Robots to adapt physical interference and contact with humans while trying to complete task execution keeping a constraint condition. To avoid second disasters even in task performable human following, we propose a control flame to concurrently satisfy human following and task execution, adapting behaviors according to situations, such as canceling out the task imposed or changing behaviors so as to lead no deadlock state. Evaluation experiments using an actual humanoid robot, TWENDY-ONE implemented with this idea indicating the robot behaves to avoid any second disasters during human following confirm the effectiveness of the method.
2009-05-25