Control characteristics of two humans in cooperative task and its application to robot control

摘要

Control systems for cooperative robots should be designed to work imitating human characteristics. So it is important to know the human characteristics in cooperative task, i.e. carrying an object by two humans. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the control characteristics of two humans in cooperative task are investigated. Then, the cooperative task is modelled and the parameters of the model are evaluated. Finally, the proposed model is implemented to control a robot in order to perform a cooperative task with humans. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with human.