Control characteristics of two humans in cooperative task

Author

Rahman, M.M. ; Ikeura, R. ; Mizutani, K.

Author_Institution

Mie Univ., Tsu, Japan

Volume

2

fYear

2000

fDate

2000

Firstpage

1301

Abstract

Control systems for cooperative robots should be designed to work imitating human characteristics. So it is important to know the human characteristics in a cooperative task, i.e. carrying an object by two humans. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the control characteristics of two humans in the cooperative task are investigated. Then, the cooperative task is modelled and the parameters of the model are evaluated. Finally, the proposed model is implemented to control a robot in order to perform a cooperative task with humans. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with a human

Keywords

cooperative systems; human factors; man-machine systems; robot kinematics; 1DOF cooperative robot; control methodology; cooperative task; human characteristics; human like movements; one degree-of-freedom cooperative robot; Acceleration; Cities and towns; Control systems; Design methodology; Force control; Humanoid robots; Humans; Impedance; Motion control; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.886033

Filename

886033