人・物体・ロボット間の衝突を防ぐブロッキング手法
On Blocking Collisions between People, Objects and other Robots
物体・ロボット・人との差し迫った衝突を統計的に予測し、上半身ヒューマノイドロボットが最適な部位で衝突を阻止するためのセンサベースの予測・軌道生成・実時間制御を開発し、多数の実験で検証した。
著者: Kwan Suk Kim, Luis Sentis
分類: cs.RO
原文アブストラクト
Intentional or unintentional contacts are bound to occur increasingly more often due to the deployment of autonomous systems in human environments. In this paper, we devise methods to computationally predict imminent collisions between objects, robots and people, and use an upper-body humanoid robot to block them if they are likely to happen. We employ statistical methods for effective collision prediction followed by sensor-based trajectory generation and real-time control to attempt to stop the likely collisions using the most favorable part of the blocking robot. We thoroughly investigate collisions in various types of experimental setups involving objects, robots, and people. Overall, the main contribution of this paper is to devise sensor-based prediction, trajectory generation and control processes for highly articulated robots to prevent collisions against people, and conduct numerous experiments to validate this approach.
