การควบคุมเชิงพฤติกรรมสำหรับหุ่นยนต์ในการส่งของให้มนุษย์

Abstract

Currently, robots play an increasingly important role in human life, as the robots are capable of safely performing human-robot interactive tasks. As ageing and disability societies have become a challenge social problem in Thailand and all over the world, due to the shortage of care workers. Subsequently, to enhance the quality of life of elderly and disabled people, service robots have been taken into account to support household chores, particularly passing an object to a human. Therefore, this thesis focuses on the development of robotic human-like control by initially understanding how an equivalent human-human interaction can perform object handover naturally, reliably and safely. The preliminary human-human handover (HHH) tests were carried out to acknowledge the dynamic behavioural characteristics of the human participants in HHH. The experimental findings intensively explained human handover strategies, the interactive force profiles, object handover times, transfer locations, and the mathematical model of the giver’s arm while regulating the exerted force. The understanding of HHH behavioural responses leads to the proper design of a conceptual framework for a robot control system. The substantive tests were developed, in which a Toyota Human Support Robot (HSR) was implemented based on human-like behavioural control. Additionally, the robotic impedance control, which is suitable to control the HRS’s force-position relation while interacting with the human environment, was used. The optimized impedance parameters were experimentally identified. The main results show that the performance of the robot impedance control can be considered acceptable for HHH. This allowed the HSR to successfully pass the object to the human in a safe, reliable, and timely manner.