Title :
Control characteristics of two humans in cooperative task
Author :
Rahman, M.M. ; Ikeura, R. ; Mizutani, K.
Author_Institution :
Mie Univ., Tsu, Japan
Abstract :
Control systems for cooperative robots should be designed to work imitating human characteristics. So it is important to know the human characteristics in a cooperative task, i.e. carrying an object by two humans. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the control characteristics of two humans in the cooperative task are investigated. Then, the cooperative task is modelled and the parameters of the model are evaluated. Finally, the proposed model is implemented to control a robot in order to perform a cooperative task with humans. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with a human
Keywords :
cooperative systems; human factors; man-machine systems; robot kinematics; 1DOF cooperative robot; control methodology; cooperative task; human characteristics; human like movements; one degree-of-freedom cooperative robot; Acceleration; Cities and towns; Control systems; Design methodology; Force control; Humanoid robots; Humans; Impedance; Motion control; Robot control;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886033
