Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
Human support robots that operate in human living space and support people are attracting attention. Especially, studies on mobile manipulator type human support robots equipped with arms in addition to moving mechanisms are actively conducted. It is difficult to move safely and smoothly in human living space for these robots only by avoiding objects because there are various objects are cluttered in the environments. In this research, we propose a hierarchical action planning that plans action such as moving and avoiding objects, and obstacle avoidance and manipulates control of robots necessary for the action simultaneously. We set nodes to the space where the robot can move, set state transition diagram and cost including rules on the state of movable objects between nodes and the person who provides the service, and verify the effectiveness by numerical simulation.
