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Physical interference adapting behaviors in human symbiotic robots: whole-body cooperative force following in human-robot physical interaction

机译：适应人类共生机器人的身体干扰：全身合作力在人体机器人身体互动之后

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Human Symbiotic Robots which have various physical interference (PIF) with humans are required to accomplish both securing high human safety and task performance by decreasing the applied PIF force. In this paper, we propose a control method for whole-body following motion, which enables robots to flexibly follow PIF. The method is implemented into a humanoid robot WENDY equipped with arm surface covers for precisely sensing PIF. From the result of evaluation experiments, it was confirmed that the proposed method is effective for decreasing the PIF force.

机译：具有通过减少所施加的PIF力来确保高人的安全性和任务性能所需的人类共生机器人。在本文中，我们提出了一种对全身的控制方法，这使得机器人能够灵活地遵循PIF。该方法被实施在配备有臂表面盖的人形机器人温度，用于精确地感测PIF。根据评估实验的结果，证实该方法对于降低PIF力有效。

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《日本ロボット学会学術講演会》|2000年||共2页
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作者
Hiroyasu Iwata; Kunitugu Tomita; Toshio Morita; Jiang Liang-Zhong; Shigeki Sugano;
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原文格式 PDF
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中图分类 TP241-53;
关键词
Physical interaction; Physical interference; Force control; Human safety;

机译：物理互动;物理干扰;力控制;人性安全;

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1. Human-Robot Cooperative Control Based on pHRI (Physical Human-Robot Interaction) of Exoskeleton Robot for a Human Upper Extremity [J] . Heedon Lee, Byeongkyu Lee, Wansoo Kim, International Journal of Precision Engineering and Manufacturing . 2012,第6期

机译：基于pHRI（物理人机交互）的外骨骼机器人对人上肢的人机协作控制
2. Using "human state aware" robots to enhance physical human-robot interaction in a cooperative scenario [J] . GuerreroC.R., FraileMarineroJ.C., TurielJ.P., Computer Methods and Programs in Biomedicine: An International Journal Devoted to the Development, Implementation and Exchange of Computing Methodology and Software Systems in Biomedical Research and Medical Practice . 2013,第2期

机译：在协作场景中使用“人类状态感知”机器人增强人机交互
3. Physical human-robot interaction force control method based on adaptive variable impedance [J] . Dong Jianwei, Xu Jianming, Zhou Qiaoqian, Journal of the Franklin Institute . 2020,第12期

机译：基于自适应可变阻抗的物理人员机器人交互力控制方法
4. Physical interference adapting behaviors in human symbiotic robots: whole-body cooperative force following in human-robot physical interaction [C] . Hiroyasu Iwata, Kunitugu Tomita, Toshio Morita, 日本ロボット学会学術講演会 . 2000

机译：适应人类共生机器人的身体干扰：全身合作力在人体机器人身体互动之后
5. Adaptive Optimal Control in Physical Human-robot Interaction [D] . Bell, Rebecca C. 2019

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6. Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots [O] . Nicolò d’Elia, Federica Vanetti, Marco Cempini, 2017

机译：主动骨盆矫形器的人机交互：针对可穿戴机器人的人体工程学评估
7. Human-preference-based control design: Adaptive robot admittance control for physical human-robot interaction [O] . Vladislav Okunev, Thomas Nierhoff, Sandra Hirche 2012

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Physical interference adapting behaviors in human symbiotic robots: whole-body cooperative force following in human-robot physical interaction

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