The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2021
Session ID : 2P3-B03
Conference information

Operation Support based on Time to Contact for Power Assisted Omni Directional Mobile Robot
-Verification of Effects of Parameters in Obstacle Avoidance and Soft Contact with an Object-
*Yuki HOMMAYuki UENOYoshiki MATSUO
Author information
CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details
Abstract

A power-assisted omni-directional mobile robot enables operator-oriented operation while reducing physical burdens on its operator. However, obstacle avoidance operations are a burden on the operator, and there is a risk of accidental collision. Therefore, the authors proposed a method to support obstacle avoidance based on the concept of time-to-contact in the field of ecological psychology. Previously, the validity of the proposed method was confirmed through experiments that avoids an obstacle. Through these researches, it is considered that the proposed method could be applied as an operation support method for the surrounding environment in a wider variety of situations, such as aligning with a wall. In this paper, authors examine two types of situations, one is to avoid an obstacle and move to a destination, and the other is to aligning with a wall.

Content from these authors
© 2021 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top