Controller design for human-assist robots with force filtering process

Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Article査読

抄録

This paper describes a controller design method for robots supporting humans in real environments. Such robots must deal with various interactions between robots and the human environment. Furthermore, they also must autonomously classify the interactions from sensor information and select their actions according to the tasks and situations. This study introduces the idea of a spatial filter, a filter in the spatial 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 presented in order to verify the validity of the proposed method.

本文言語English
ページ(範囲)46-55
ページ数10
ジャーナルElectronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi)
91
12
DOI
出版ステータスPublished - 2008

ASJC Scopus subject areas

  • 物理学および天文学一般
  • コンピュータ ネットワークおよび通信
  • 電子工学および電気工学

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