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

Fumi Seto; Kazuhiro Kosuge; Yasuhisa Hirata

doi:10.1109/IROS.2005.1544958

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

Fumi Seto
, Kazuhiro Kosuge
, Yasuhisa Hirata

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

30 Citations (Scopus)

Abstract

We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self-collision avoidance motion. © 2005 IEEE.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	3143-3148
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1544958
Publication status	Published - 2005
Externally published	Yes

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Research Keywords

Human robot cooperation
Mobile manipulator
RoBe
Self-collision

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Seto, F., Kosuge, K., & Hirata, Y. (2005). Self-collision avoidance motion control for human robot cooperation system using RoBE. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3143-3148). Article 1544958 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1544958

@inproceedings{82b451b2ea66419c8aa729a2c33e9865,

title = "Self-collision avoidance motion control for human robot cooperation system using RoBE",

abstract = "We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as {"}RoBE (Representation of Body by Elastic elements){"}. The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as {"}MR Helper{"}, and experiments are done for illustrating the validity of the proposed self-collision avoidance motion. {\textcopyright} 2005 IEEE.",

keywords = "Human robot cooperation, Mobile manipulator, RoBe, Self-collision",

author = "Fumi Seto and Kazuhiro Kosuge and Yasuhisa Hirata",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].",

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series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

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Seto, F, Kosuge, K & Hirata, Y 2005, Self-collision avoidance motion control for human robot cooperation system using RoBE. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1544958, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 3143-3148. https://doi.org/10.1109/IROS.2005.1544958

Self-collision avoidance motion control for human robot cooperation system using RoBE. / Seto, Fumi; Kosuge, Kazuhiro; Hirata, Yasuhisa.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 3143-3148 1544958 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Self-collision avoidance motion control for human robot cooperation system using RoBE

AU - Seto, Fumi

AU - Kosuge, Kazuhiro

AU - Hirata, Yasuhisa

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2005

Y1 - 2005

N2 - We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self-collision avoidance motion. © 2005 IEEE.

AB - We have proposed a real-time self-collision avoidance control method for the robot which is used for human-robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human-friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self-collision avoidance motion. © 2005 IEEE.

KW - Human robot cooperation

KW - Mobile manipulator

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KW - Self-collision

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T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

SP - 3143

EP - 3148

BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

PB - IEEE Computer Society

ER -

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

Abstract

Publication series

Bibliographical note

UN SDGs

Research Keywords

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