Dynamic Human-Robot Interactive System
In this research, we developed a dynamic human-robot interactive system which can adapt to a human operation at high speed and low delay, using a high-speed robot hand system consisting of a high-speed vision system and a high-speed robot hand. Then, the human operator and the robot hand grasped the same object, enabled cooperative motion according to the human operations (Figure (a)), and realized a highly accurate peg-in-hole while keeping collaborative motion (Figure (b)).
As the proposed concrete method, by tracking the markers attached on the same object by the high-speed vision system, we recognized the three-dimensional position and orientation of the board to be manipulated by the human operator every 1 millisecond. Based on the visual recognition result, the cooperative motion according to the human motion was realized. Here, it is a feature of this result that utilizing the high-speed performance of the robot system realizes it only by kinematics calculation without performing complex dynamics calculation.
As the proposed concrete method, by tracking the markers attached on the same object by the high-speed vision system, we recognized the three-dimensional position and orientation of the board to be manipulated by the human operator every 1 millisecond. Based on the visual recognition result, the cooperative motion according to the human motion was realized. Here, it is a feature of this result that utilizing the high-speed performance of the robot system realizes it only by kinematics calculation without performing complex dynamics calculation.
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References
- Yuji Yamakawa, Yutaro Matsui and Masatoshi Ishikawa: Development and Analysis of a High-speed Human-Robot Collaborative System and its Application, 2018 IEEE International Conference on Robotics and Biomimetics (Kuala Lumpur, Malaysia, 2018.12.15)／Proceedings, pp.2415-2420 (2018)