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人と移動マニピュレータによる物体協調搬送
https://kindai.repo.nii.ac.jp/records/14985
https://kindai.repo.nii.ac.jp/records/149859bce5835-f7f1-4d18-80dc-6df54f5a7f91
Item type | ☆紀要論文 / Departmental Bulletin Paper(1) | |||||
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公開日 | 2016-06-01 | |||||
タイトル | ||||||
タイトル | 人と移動マニピュレータによる物体協調搬送 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Cooperative transportation between human and mobile manipulator | |||||
著者 |
平野, 剛
× 平野, 剛 |
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言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | 人-ロボット協調, 搬送作業, 衝突回避, 移動マニピュレータ Human-robot cooperation, transportation, obstacle avoidance, mobile manipulator |
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資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
アクセス権 | ||||||
アクセス権 | metadata only access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_14cb | |||||
著者(英) | ||||||
en | ||||||
Hirano, Takeshi | ||||||
著者 所属 | ||||||
近畿大学 | ||||||
著者所属(翻訳) | ||||||
Kinki University | ||||||
版 | ||||||
出版タイプ | NA | |||||
出版タイプResource | http://purl.org/coar/version/c_be7fb7dd8ff6fe43 | |||||
出版者 名前 | ||||||
出版者 | 近畿大学産業理工学部 | |||||
書誌情報 |
かやのもり:近畿大学産業理工学部研究報告 en : Reports of Faculty of Humanity-Oriented Science and Engineering, Kinki University 巻 7, 号 2, p. 1-7, 発行日 2007-11-30 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 13495801 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In this paper, we consider the cooperative transportation task by the human and the robot handling a long object. To reduce a burden of the human at the work, it is resonable for a human face to the working direction of the transportation. So the robot position is in front of the object, the human in back of the the object, then grasp and transport the object together. A human controls the transportation task by applying the intentional force to the object. The robot detects the obstacles and avoids them autonoumsly without any human support. We develop the control method of the mobile manipulator with viewpoint of labersaving, and demonstrate the effectiveness by simulations. | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf |