Human-humanoid physical interaction realizing force following and task fulfillment

H. Iwata, H. Hoshino, Toshio Morita, S. Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

In this paper, we herein describe the control methods used for a humanoid's compliant behavior following human force and motions while fulfilling given tasks under various constraint conditions during Physical InterFerence (PIF) with a human. PIF is a form of physical interaction viewed from the robots point of view. In cases of PIF occurrence, PIF Adapting Behaviors for attenuating physical influences caused by PIF on both a human body and a robots' task are required. First, a base control method for compliantly following PIF by coordinating multiple joints of the arms and trunk is presented. By utilizing this method, PIF force produced on several areas of the robot's entire body is efficiently reduced. Next, the control methods for fulfilling given tasks, as well as following PIF at the same time, are proposed. In these methods, the idea is incorporated that if the utilization of redundancy is needed for task fulfillment or constraint conditions and attributes of the given task are changed, the role of each joint needs to change as well. Adapting to the diversity of task attributes and also the necessity of utilizing redundancy, the proposed control methods enable the robots to realize both force following and task fulfillment at the same time. Finally, from the evaluation of the experiments, it was confirmed that the proposed methods realize a humanoid's capability of compliantly adapting to human motions while fulfilling tasks by efficiently utilizing redundancy.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages522-527
Number of pages6
Volume1
Publication statusPublished - 2000
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period00/10/3100/11/5

Fingerprint

Robots
Redundancy
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Iwata, H., Hoshino, H., Morita, T., & Sugano, S. (2000). Human-humanoid physical interaction realizing force following and task fulfillment. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 522-527)

Human-humanoid physical interaction realizing force following and task fulfillment. / Iwata, H.; Hoshino, H.; Morita, Toshio; Sugano, S.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2000. p. 522-527.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Iwata, H, Hoshino, H, Morita, T & Sugano, S 2000, Human-humanoid physical interaction realizing force following and task fulfillment. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 522-527, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, 00/10/31.
Iwata H, Hoshino H, Morita T, Sugano S. Human-humanoid physical interaction realizing force following and task fulfillment. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2000. p. 522-527
Iwata, H. ; Hoshino, H. ; Morita, Toshio ; Sugano, S. / Human-humanoid physical interaction realizing force following and task fulfillment. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2000. pp. 522-527
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