Motion generation method for human-robot cooperation to deal with environmental/task constraints

We have proposed a real-time self-collision avoidance motion generation method for the mobile manipulator which is used for human-robot cooperation using ";RoBE (Representation of Body by Elastic elements)";. Furthermore, we have proposed the cooperating motion generation method which considers range of joint movement of the robot to deal with environmental/task constraints in human-robot cooperation. In this paper, we apply the proposed cooperative motion generation method to the real human-friendly robot referred to as ";Mr Helper";. Because of the consideration of range of joint movement, the cooperative motions which could deal with task/environmental constraints could be generated on Mr Helper while cooperating with a human. Some experiments are also done for illustrating the validity of the proposed cooperative motion generation method.