A controller design method for human-assist robot with force filtering process

Toshiaki Tsuji, Kouhei Ohnishi

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

This paper describes a controller design method for robots supporting human in real environment. Such robots have to cope with various interactions between robots and human environment. Furthermore, they also have to autonomously classify the interaction from sensor information and select their action according to tasks and situations. This study introduces an idea of spatial filter, a filter in space domain, to construct such a control system. The method decomposes sensor information into function modes, spatial information essential for control. The force filtering process based on function modes makes the controller design simple and explicit. Some experimental results are shown to verify the validity of the proposed method.

Original languageEnglish
Pages (from-to)1000-1008+9
Journalieej transactions on industry applications
Volume127
Issue number9
DOIs
Publication statusPublished - 2007 Sep 25

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Keywords

  • Bilateral control
  • Decentralized control
  • Decoupling control
  • Environmental adaptation
  • Functionality
  • Robotics

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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