Variable Dynamic Range Control Based on Object Inherent Dynamics in Human-Robot Cooperative Interaction System
| Project/Area Number |
22760197
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Doshisha University |
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Principal Investigator |
TSUMUGIWA Toru 同志社大学, 生命医科学部, 准教授 (90362912)
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | ロボット / 人間-ロボット協調系 / インターフェース / 制御 |
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| Research Abstract |
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.
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Report
(3 results)
Research Products
(9 results)
