A Study on Robot-Human System with Consideration of Individual Preferences (1st Report, Construction of a Planar-Two-Degrees-of-Freedom Robot System for Handing over Motion Based on Image Processing)

Autor:	Akira Shimizu, Satoru Shibata, Tomonori Yamamoto, Mitsuru Jindai
Rok vydání:	2003
Předmět:	Engineering Robot kinematics Social robot business.industry Mechanical Engineering Image processing Bang-bang robot Industrial and Manufacturing Engineering Motion (physics) Human system Position (vector) Robot Computer vision Artificial intelligence business ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	JSME International Journal Series C. 46:1075-1083
ISSN:	1347-538X 1344-7653
DOI:	10.1299/jsmec.46.1075
Popis:	We construct a handing over robot system with consideration of individual preferences. In this robot system, a human (cooperator) can adjust motion characteristics of planar two-degrees-of-freedom robot to satisfy his or her individual preferences. The robot recognizes the shape of the cooperator's hand as the order using image processing. Then, the robot changes the motion characteristics, such as the maximum velocity, the position of the velocity peak, the handing over position and the initial position, according to the cooperator's order (that is preference). By accomplishing the adjustments, the handing over motion of the robot will become the most comfortable for the cooperator. Furthermore, this proposed robot system uses a bell-shaped velocity pattern based on the minimum jerk model, which can reproduce the point-to-point motion of human hands. Therefore, the motion of this robot becomes similar to human's hand motion, and a more human friendly robot can be realized.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::6a8417d7225703a0aa0dd002aeeef515 https://doi.org/10.1299/jsmec.46.1075 Zobrazit plný text záznamu