人間共棲制御を可能とする環境型移動ロボットシステムの構築

抄録

The paper presents Environing Mobile Robot System. It realizes temporal cooperative control(Human Robot Symbiosis Control) for humans and robots at the same space. The system is composed of environing sensor, data analyzing and accumulating component, mobile cart robot, and real-time control component. There are two characteristics in the system in terms of spatial and temporal aspects. As for the spatial aspect, the system can measure robot and human position simultaneously by the same environing sensor. As for the temporal aspect, the accumulated human locomotion data is utilized for path planning of the mobile robot.