2A1-R09 Human-Robot Collaborative Control in Mobile Environment : A Simulation Study of the Adaptive Contact-based Trajectory Control for Prioritizing the Robot(車輪型/クローラ型移動ロボット(1))

抄録

Conventional researches on human-robot collaborative motion, almost in its entirety, always emphasize on safety and therefore prioritize humans. However, in a congested area this approach will result in a highly inefficient robot motion. This paper proposes a method wherein, we utilize contact and shoulder turning behavior to induce a desired trajectory on a passing human. Through the use of contact and shoulder turning we try to prioritize the robot. We analyze the effectiveness of our proposed system through simulations. The results of the simulations show that the above method can be realized to produce a safe and highly efficient motion.