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.
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