Receiver robot's motion for handing-over with a human

S. Kajikawa, N. Saito, H. Okano
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引用次数: 1

Abstract

Robots are required to assist our activities in daily life. In this paper, we focus on designing an algorithm to realize "handing-over" motion as a cooperative task between a human and a robot. We plan human-like robot motion to receive an object handed by a human. First, we analyze the handing-over motion performed by two humans. From the experimental results, we extract some characteristics in hand trajectory, velocity profile, and arm posture. We then confirm that human-like motion can be produced using these characteristics. Finally, we plan the robot motion with an instantaneous optimal control method, which evaluates the error (regarding the relative position, velocity and direction of the tip of hand) and the energy cost (joint torque) at each sampling step. In this method, we adopt a time-varying weight matrix that relates to how to reduce the error (or how the robot approaches the human) in order to give the robot's motion human-like characteristics. Simulation results show the validity of the proposed method.
接收机器人与人类交接的动作
在日常生活中需要机器人来协助我们的活动。在本文中,我们重点设计了一种算法来实现“移交”运动作为人与机器人之间的合作任务。我们设计了类似人类的机器人动作来接收人类递过来的物体。首先,我们分析了两个人的交接动作。从实验结果中,我们提取了手轨迹、速度轮廓和手臂姿态的一些特征。然后我们确认,利用这些特征可以产生类似人类的运动。最后,我们用一种瞬时最优控制方法来规划机器人的运动,该方法评估了每个采样步骤的误差(关于手尖的相对位置、速度和方向)和能量消耗(关节扭矩)。在这种方法中,我们采用了一个时变的权重矩阵,该矩阵与如何减小误差(或机器人如何接近人类)有关,以赋予机器人的运动类似人类的特征。仿真结果表明了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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