scholarly journals The Role of Internal Models in Motion Planning and Control: Evidence from Grip Force Adjustments during Movements of Hand-Held Loads

1997 ◽  
Vol 17 (4) ◽  
pp. 1519-1528 ◽  
Author(s):  
J. Randall Flanagan ◽  
Alan M. Wing
Keyword(s):  
Motion Planning ◽  
Grip Force ◽  
Internal Models ◽  
Planning And Control ◽  
And Control

Periodic motion planning and control for underactuated mechanical systems

2017 ◽  
Vol 91 (6) ◽  
pp. 1350-1362 ◽  
Author(s):  
Zeguo Wang ◽  
Leonid B. Freidovich ◽  
Honghua Zhang
Keyword(s):  
Motion Planning ◽  
Periodic Motion ◽  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Planning And Control ◽  
And Control

scholarly journals Human-Following Motion Planning and Control Scheme for Collaborative Robots Based on Human Motion Prediction

2021 ◽  
Author(s):  
Fahad Iqbal Khawaja ◽  
Akira Kanazawa ◽  
Jun Kinugawa ◽  
Kazuhiro Kosuge
Keyword(s):  
Motion Planning ◽  
Human Motion ◽  
Human Robot Interaction ◽  
Collaborative Robots ◽  
Sensing System ◽  
Planning And Control ◽  
Control Scheme ◽  
Active Research ◽  
And Control ◽  
Collaborative Robot

Human-Robot Interaction (HRI) for collaborative robots has become an active research topic recently. Collaborative robots assist the human workers in their tasks and improve their efficiency. But the worker should also feel safe and comfortable while interacting with the robot. In this paper, we propose a human-following motion planning and control scheme for a collaborative robot which supplies the necessary parts and tools to a worker in an assembly process in a factory. In our proposed scheme, a 3-D sensing system is employed to measure the skeletal data of the worker. At each sampling time of the sensing system, an optimal delivery position is estimated using the real-time worker data. At the same time, the future positions of the worker are predicted as probabilistic distributions. A Model Predictive Control (MPC) based trajectory planner is used to calculate a robot trajectory that supplies the required parts and tools to the worker and follows the predicted future positions of the worker. We have installed our proposed scheme in a collaborative robot system with a 2-DOF planar manipulator. Experimental results show that the proposed scheme enables the robot to provide anytime assistance to a worker who is moving around in the workspace while ensuring the safety and comfort of the worker.

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