抄録
Robots to be used in human environment are expected in the last decade. In the dynamic environment, it is considered that the robots contact with or crush against humans and environmental objects unexpectedly. These situations are dangerous not only for human but also robot itself. Moreover robot may fail in its task after the collision. In this study, we propose the robot is controlled to dodge the external force to cope with the problems of the sudden contacts and collisions. The robot take a dodging motion in such a situation while moving along the planned route. The dodging control and route recovery are introduced with experimental results.
