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JRM Vol.14 No.5 pp. 514-519
doi: 10.20965/jrm.2002.p0514
(2002)

Paper:

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

Received:
April 4, 2002
Accepted:
July 24, 2002
Published:
October 20, 2002
Keywords:
cooperation, human, robot, impedance control, subjective evaluation
Abstract

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.

Cite this article as:
Ryojun Ikeura, Hikaru Inooka, and Kazuki Mizutani, “Subjective Evaluation for Maneuverability of a Robot Cooperating with Humans,” J. Robot. Mechatron., Vol.14, No.5, pp. 514-519, 2002.
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