Research Project
Grant-in-Aid for Young Scientists (B)
This paper presents development of a mechanical man-machine interface to stabilize robot motion control system in a human-robot dynamic interaction. The proposed interface provides a human operator with a hybrid control mode which is composed of an impedance control(an admittance control) and an inherent dynamics interaction. The control system combines the two control strategies into a single hybrid control strategy. To confirm the performance of the proposed system, a dynamic interaction experiment involving a human operator is carried out. Experimental results show that the proposed system is effective for controlling the motion of the robot in the human-robot cooperative interaction.
All 2011 2010
All Presentation (9 results)
