Interactive Genetic Algorithm for Trajectory Generation of Human Friendly Robots.

摘要

This paper deals with trajectory generation planning of a human friendly robot. The high intelligence of robots is required in walfare, dangerous area, and others. To realize human friendly robots, we propose a trajectoty planning method for robot manipulators based on human feeling. First, we build a fuzzy model of human feeling on the speed level and position of a robot manipulator. Next we apply an interactive genetic algorithm to generate a trajectory suitable to the state of human feeling. Finally, we discuss the effectiveness of the proposed method through experimental results.