| Project/Area Number |
26730137
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent robotics
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
Yamaguchi Akihiko 奈良先端科学技術大学院大学, 情報科学研究科, 研究員 (10625031)
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| Research Collaborator |
OGASAWARA Tsukasa
TAKAMATSU Jun
Gustavo Alfonso Garcia Ricardez
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| Project Period (FY) |
2014-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | 安全 / 安全性指標 / ヒューマンロボットインタラクション / ヒューマノイドロボット |
|---|
| Outline of Final Research Achievements |
In order to execute tasks of humanoid robots while maintaining the safety of surrounding humans, we explored increasing the accuracy of a safety index by introducing an estimation model of human behaviors. In addition to this, we explored motion planning and reactive control methods that consider the safety index. We proposed to model human behaviors by assuming that humans select the most dangerous behaviors from possible selections. This model enabled the robots to maintain human safety even if we do not have accurate models of human behaviors, as we control the robot by assuming the worst cases. We verified our proposed methods with a humanoid robot and simulations.
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