Abstract
This paper presents human safety mechanisms of a Human Friendly Robot (HFR) capable of coexisting with human beings. In order to realize human safety, the HFR is required to be composed of an elastic material-covered manipulator and a passive viscoelastic trunk mounted on a passively movable base like a human's structure. During an expected or unexpected collision/contact between the HFR and its environment, the produced collision/contact forces are extremely attenuated by the combination motion of the passive viscoelastic trunk and passively movable base. The collision-tolerant control algorithm has been developed for the end-effector of the HFR to maintain its desired task during the expected and unexpected collision. Results of collision experiments show that the compliant trunk and movable base are effective mechanisms of suppressing collision forces, and the control algorithm is an effective method of positioning the end-effector.
| Original language | English |
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| Pages | 1039-1044 |
| Number of pages | 6 |
| Publication status | Published - 1999 Dec 1 |
| Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 1999 Oct 17 → 1999 Oct 21 |
Other
| Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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| City | Kyongju, South Korea |
| Period | 99/10/17 → 99/10/21 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications