Title :
Variable impedance control of a robot for cooperation with a human
Author :
Ikeura, Ryojun ; Inooka, Hikaru
Author_Institution :
Dept. of Mech. Eng., Tohoku Univ., Sendai, Japan
Abstract :
Robots are expected to be human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed in order to adapt human characteristics. In this paper, a variable impedance control method for robot to cooperate with human is proposed. First, the human characteristics in a cooperative task between two humans are analyzed. It is confirmed that human characteristics can be expressed by a variable impedance model. Then, we make a robot and a human to execute a cooperative task. It is shown that the impedance parameters obtained in the experiment performed by two humans give the best characteristics to the robot for cooperation with the human
Keywords :
human factors; man-machine systems; mechanical variables control; robots; cooperative task; human characteristics; human factors; robot-human cooperation; variable impedance control; Control systems; Damping; Humans; Impedance; Mechanical variables control; Medical robotics; Robot control; Robotics and automation; Service robots; Stability;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525725
