表面痛のモデリングとロボット回避運動への応用

• 松永 信智

  熊本大学大学院自然科学研究科

• 川路 茂保

  熊本大学大学院自然科学研究科

書誌事項

タイトル別名

• Modelling of Artificial Superficial Pain and Its Application to Avoidance Motion of Robot

抄録

In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human.A typical unpleasant feeling at interaction is“pain”. It is difficult to separate the robots from human in the sense of time or place in coexisting environment unlike factory automation design. Thus a new concept of separation in the sense of safety is required.One approach is to design the controller based on the pain that is subjective of human. In this paper, artificial superficial pain model (ASPM) caused by impact is proposed. This ASPM model consists of mechanical pain model, skin model and gate control by artificial neural networks (ANNs). The proposed ASPM is applied to avoidance motion control of2-link robot and evaluated.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 43 (7), 599-605, 2007

  公益社団法人 計測自動制御学会

キーワード

• superficial pain
• pain model
• neural network
• avoidance motion

詳細情報

• CRID: 1390282679481330944
• NII論文ID: 130003971663
• DOI: 10.9746/ve.sicetr1965.43.599
• ISSN: 18838189
• ISSN: 04534654
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/43/7/43_599/_pdf
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可