抄録
This paper describes a robot control strategy for a human-robot dynamical interaction system. In many studies, the impedance control (or the admittance control) of the motion of a robot has generally been used. The impedance control is designed to generate familiar and intuitive robot motion for a human. It is provided to enable smooth interaction between the human operator and the robot. It is expected that a nursing care or a power-assist robot system will be developed using this control strategy. These systems provide a complementary relationship between the human and the robot. In this paper, human-robot interaction systems are introduced and their control strategies are explained.
