2010 年 9 巻 2 号 p. 361-367
In order for a robot to co-exist and operate with humans, not only must the robot be safe for the humans but it must perform comfortable motions. In this research, we had humans and robots cross operating paths and focused on avoidance motions at the places where the two would collide had they been allowed to continue. At this time, we considered having only the robot avoid the collision by slowing and/or stopping. Evaluation experiments were conducted using computer graphics to clarify the affects that the distance between humans and robots and the acceleration of the robot.