Mechanism and base control of human-friendly robot with passive collision force suppression mechanism

Shunsuke Kumagai, Koki Matsumoto, Atsuo Takanishi, Hun Ok Lim

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression mechanism is installed in the pitch axis of the elbow and the yaw axis of the waist. The base consists of four omnidirectional wheels, enabling movement in any direction. Moreover, the control method for the base is discussed in this study. Using the robot, collision experiments are conducted and the effectiveness of the robot mechanism and the control method is verified.

    Original languageEnglish
    Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
    PublisherIEEE Computer Society
    Pages74-79
    Number of pages6
    ISBN (Electronic)9788993215120
    DOIs
    Publication statusPublished - 2017 Jan 24
    Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
    Duration: 2016 Oct 162016 Oct 19

    Other

    Other16th International Conference on Control, Automation and Systems, ICCAS 2016
    CountryKorea, Republic of
    CityGyeongju
    Period16/10/1616/10/19

    Keywords

    • air cushion
    • Human-friendly robot
    • omnidirectional wheels
    • suppression mechanism

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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  • Cite this

    Kumagai, S., Matsumoto, K., Takanishi, A., & Lim, H. O. (2017). Mechanism and base control of human-friendly robot with passive collision force suppression mechanism. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 74-79). [7832302] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832302