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

Volume

3

fYear

1995

fDate

21-27 May 1995

Firstpage

3097

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525725

Filename

525725