Subjective Evaluation for Maneuverability of a Robot Cooperating with Humans
Ryojun Ikeura*, Hikaru Inooka**, and Kazuki Mizutani*
*Department of Mechanical Engineering, Mie University Kamihama 1515, Tsu, Mie, 514-8507 Japan
**Graduate School of Information Sciences, Tohoku University, Aoba 01, Aramaki-aza, Aoba, Sendai, 980-8579 Japan
Robots will be expected to be user-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work adapting to human characteristics. We have developed control for robots and humans cooperating in carrying an object. To make the robot controller, we studied cooperation force characteristics of two humans and developed variable impedance control for a robot. Variable impedance control for a robot we developed is evaluated subjectively. Results of subjective evaluation give the proposed variable impedance control high marks.
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