| Co-Investigator(Kenkyū-buntansha) |
高西 淳夫 早稲田大学, 理工学術院, 教授 (50179462)
石井 裕之 早稲田大学, 理工学術院総合研究所(理工学研究所), 准教授(任期付) (10398927)
小林 洋 大阪大学, 基礎工学研究科, 准教授 (50424817)
藤江 正克 早稲田大学, 理工学術院, 教授 (20339716)
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| Budget Amount *help |
¥218,140,000 (Direct Cost: ¥167,800,000、Indirect Cost: ¥50,340,000)
Fiscal Year 2017: ¥30,030,000 (Direct Cost: ¥23,100,000、Indirect Cost: ¥6,930,000)
Fiscal Year 2016: ¥35,620,000 (Direct Cost: ¥27,400,000、Indirect Cost: ¥8,220,000)
Fiscal Year 2015: ¥40,040,000 (Direct Cost: ¥30,800,000、Indirect Cost: ¥9,240,000)
Fiscal Year 2014: ¥43,940,000 (Direct Cost: ¥33,800,000、Indirect Cost: ¥10,140,000)
Fiscal Year 2013: ¥68,510,000 (Direct Cost: ¥52,700,000、Indirect Cost: ¥15,810,000)
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| Outline of Final Research Achievements |
In this study, we have developed core technologies of active coordination, such as (A) cooperative conveyance of robot’s intention by approaching and light contact with human, (B) integrated dynamics modeling of human and robots in a contact state, and (C) safe and secure inducement of human movements by a strong contact force. We have then consolidated them as an active coordination technology for human symbiotic robots. Several experiments where a robot moves in the human coexisting environment have indicated that the proposed coordination system can adequately select inducement methods according to estimated human’s intention. In particular, when the robot needs to touch and coordinate with human, the proposed system can provide a way of contact which is safe and secure for both human and robots. From the experimental results, we confirm that this study has established the fundamental technologies for cooperative human-coordination scheme that the robot actively induces the human.
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