2A2-I09 Requirement-based Design of Motion Generation System for Dual-arm Robot Working Closely with Human(Robotics with Safety and Reliability)

Abstract

Requirement-based design is expected to be employed more broadly in robot systems in relation to functional safety. To apply this method to a problem, however, we need know-how obtained through experience and trials and errors to adapt the method to the target domain. This means we can learn a lot from similar examples like reference implemetations in software development. This motivated us to design a motion generation system of a dual-arm robot that work closely with humans as a model case. This paper presents this process together with some of the artifact models.