Title :
Cooperative motion control of a robot and a human
Author :
Ikeura, Ryojun ; Monden, Hiroshi ; Inooka, H.
Author_Institution :
Dept. of Mech. Eng., Tohoku Univ., Sendai, Japan
Abstract :
Robots are expected to be human-friendly and to execute tasks cooperating with humans. The control system for the robots should be constructed so as to work adaptively with human characteristics. In this paper, human characteristics in a cooperation task by two humans is analyzed and it is shown that the human performance can be expressed by impedance control. We then applied the principle in making a robot and a human to execute a cooperative task. It is shown that the impedance parameters obtained in the experiment performed by two humans gave the best result for robot´s cooperation with human
Keywords :
cooperative systems; human factors; man-machine systems; motion control; robots; cooperation task; cooperative motion control; human characteristics; human factors; impedance control; man-robot cooperative system; robot; Automatic control; Control systems; Humans; Impedance; Medical control systems; Medical robotics; Motion control; Position measurement; Robotics and automation; Service robots;
Conference_Titel :
Robot and Human Communication, 1994. RO-MAN '94 Nagoya, Proceedings., 3rd IEEE International Workshop on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-2002-6
DOI :
10.1109/ROMAN.1994.365946
