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PaDY: Human-friendly/cooperative working support robot for production site

In this paper, we propose a novel human-friendly/cooperative working support robot named PaDY (intime Parts/tools Delivery to You robot). This system reduces the worker's load and improves work efficiency by recognizing the worker's behavior at a production site, and supporting the worker. We propose a method estimating the pace of work of a worker so as to adjust the motion of the robot to the pace of work, and confirm its effectiveness by performing experiments. We describe the concept of PaDY, the measurement of a worker's motion for motion planning of the robot arm, and the method of estimating the pace of work based on statistical data.