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Accession number;02A0713936
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| Title;Planning of Receiver Robot Motion for Hand-over with Human. |
| Author;
KAJIKAWA SHIN'YA
(Akita Prefectural Univ., JPN)
SAITO NAOKI
(Akita Prefectural Univ., JPN)
OKANO HIDEHARU
(Akita Prefectural Univ., JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2002;NO.Pt.5;PAGE.2P2.B08(1)-2P2.B08(2)(2002)
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| Figure&Table&Reference;FIG.6, REF.1 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;In this paper, we discuss about motion planning for hand-over between human and robot. We aim at generating human-like robot motion to receive an object passed by human. In designing a controller, we use the knowledge about the characteristics of human motion during a hand-over operation. We adopt an instantaneous optimal control method which generates a control input by resolving a performance function evaluates the error (position, velocity and hand-tip direction) and the torque energy at each sampling step. In order to give a robot motion human-like characteristics, we adopt a time-varying form in formulating a weight matrix in the performance function, which relates to how to reduce the error. Simulation results shows that this matrix effectively operates to generate human-like robot motion. (author abst.) |
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