人机协作机器人可操作性的主观评价

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI:10.1109/ROMAN.1999.900340

R. Ikeura, H. Inooka, K. Mizutani

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引用次数: 2

摘要

机器人将被设计得对人类友好，并能与人类合作执行任务。这类机器人的控制系统应该设计得能适应人类的特点。我们开发了一种能使机器人与人顺利搬运物体的控制方法。为了制作机器人的控制器，我们研究了两个人的协作力特性，并开发了机器人的变阻抗控制。本文对机器人的变阻抗控制进行了主观评价。从主观评价的结果来看，所提出的变阻抗控制是有效的。

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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Subjective evaluation for manoeuvrability of a robot cooperating with human

Robots will be expected to be made human-friendly and to execute tasks in co-operation with humans. Control systems for such robots should be designed so as to work adapting to human characteristics. We have developed a control method for the robot carrying an object with a human smoothly. To make the controller of the robot, we investigate cooperation force characteristics of the two humans and develop a variable impedance control for a robot. In this paper the developed variable impedance control for a robot is evaluated subjectively. From the results of the subjective evaluation, the proposed variable impedance control was proved to be effective.

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来源期刊

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483)

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