Control of a robot handling an object in cooperation with a human

摘要

We consider a robot system handling an object in cooperation with a human, with which the human can easily handle a heavy object. The robot system supports and moves the object in the direction of the intentional force applied to the object by the operator. We discuss how to generate the motion of the object based on the intentional force applied to the object by the human. We propose several algorithms to generate the motion based on the intentional force and experimentally compare them.