抄録
This paper proposes a flexible adapting system for human symbiotic robots that stably performs given tasks as preplanned even if physical contacts and interferences with humans occur during movement. In order to accomplish tasks stably while compliantly adapting to human motion keeping contacts, task constraints state transition and four types of motion phases (Preset motion, Human following motion, Task continuing motion, Posture recovering motion) which are switched according to contact situations are incorporated in this system. As a result of evaluation experiments, it was confirmed that the proposed system is effective for human-robot coordination to realize both high task performance and adaptability to humans.
