The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2015
Session ID : 2P1-L06
Conference information
2P1-L06 Modeling of Human Trajectory Tendency through Contact for Human-Robot Collaborative Movement
Erika UNOYosuke NOHISAShoichi HAYAKAWAHayato YANAGAWAYuta YOKOYAMAMoondeep Chandra ShresthaAlexander SchmitzShigeki SUGANO
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Abstract
Robot path planning based on inducement of humans by touch requires a model of human reaction against robot's inducement. In this paper, we aimed to make a human trajectory tendency model for inducement by contact to be implemented into collaborative movement path algorithm. In order to achieve this, we conducted 2 experiments. First, we placed a human in the place of the robot to observe human reaction against inducement by touch to determine parameters that affect human movement. From the parameters taken from the first experiment, we then conducted the second experiment with the actual robot. From the results, the direction the robot touches the human and touching by the robot's arm surface has an effect on the human to move in the desired direction.
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© 2015 The Japan Society of Mechanical Engineers
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