パワーアシスト操作型全方向移動ロボットのための予測到達時間に基づく操作支援法

-障害物回避動作と物体への軟接触動作におけるパラメータ効果の検討-

抄録

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.