抄録
This paper proposes an autonomous collision avoidance system for humanoid robot arms named "CAHRA". There is a difficulty when robot developers make motions of humanoid robot arms, because the right arm and the left arm may collide each other. CAHRA can execute the online collision avoidance, since the computational cost in CAHRA that uses the potential method is very small. An experiment was conducted to confirm the ability of CAHRA which was developed on a humanoid robot "Robovie". The result indicated that CAHRA avoided collision of arms in 97%. Without being nervous about collision avoidance, developers can make robot motions by using CAHRA.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 2889-2895 |
| ページ数 | 7 |
| ジャーナル | Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics |
| 巻 | 3 |
| 出版ステータス | Published - 2004 12月 1 |
| イベント | 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands 継続期間: 2004 10月 10 → 2004 10月 13 |
ASJC Scopus subject areas
- 工学（全般）