Development of a handing-over robot system based on an approaching trajectory model

被引：0

作者：

Jindai, Mitsuru ^{[1
]}

Shibata, Satoru ^{[1
]}

Yamamoto, Tomonori ^{[1
]}

机构：

[1] Okayama Prefectural Univ, Okayama 7191197, Japan

来源：

ICIM 2006: Proceedings of the Eighth International Conference on Industrial Management | 2006年

关键词：

handing-over motion; human emotion; minimum jerk trajectory with via a point; human-robot system;

D O I：

暂无

中图分类号：

F [经济];

学科分类号：

02 ;

摘要：

In a handing-over motion from a robot to a human, the robot should be generated a smooth trajectory which is emotionally accepted by human. In this paper, we propose a handing-over robot system based on an approaching trajectory model. In this model, the path is generated by the minimum jerk trajectory with via a point, and the velocity profile is generated using the minimum jerk model. Using this approaching trajectory model, the smooth trajectory of robot is generated. Furthermore, the characteristics of the trajectory which are maximum velocity, peak of velocity profile and shape of path, are adjusted by voice orders in order to realize the most comfortable trajectory of the robot. The effectiveness of the proposed handing-over robot system is demonstrated by the experiments.

引用

页码：913 / 919

页数：7

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