Self-collision avoidance motion control for human robot cooperation system using RoBE

摘要: We have proposed a real-time self-collision avoidance control method for the robot which is used human-robot cooperation. In this method, we represent body of by using elastic elements referred to as "RoBE (representation elements)". The motion could be realized based on reaction force generated contacts between before actual robot. paper, especially, consider task constraints and environmental during motion, propose two priority functions robots realize several kinds tasks in an environment force/moment applied human. By algorithm, apply algorithm any systems implemented human-friendly robot, "MR Helper", experiments are done illustrating validity motion.