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 language | English |
|---|---|
| Title of host publication | ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | IEEE Computer Society |
| Pages | 74-79 |
| Number of pages | 6 |
| ISBN (Electronic) | 9788993215120 |
| DOIs | |
| Publication status | Published - 2017 Jan 24 |
| Event | 16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: 2016 Oct 16 → 2016 Oct 19 |
Other
| Other | 16th International Conference on Control, Automation and Systems, ICCAS 2016 |
|---|---|
| Country | Korea, Republic of |
| City | Gyeongju |
| Period | 16/10/16 → 16/10/19 |
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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
Cite this
Mechanism and base control of human-friendly robot with passive collision force suppression mechanism. / Kumagai, Shunsuke; Matsumoto, Koki; Takanishi, Atsuo; Lim, Hun Ok.
ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2017. p. 74-79 7832302.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Mechanism and base control of human-friendly robot with passive collision force suppression mechanism
AU - Kumagai, Shunsuke
AU - Matsumoto, Koki
AU - Takanishi, Atsuo
AU - Lim, Hun Ok
PY - 2017/1/24
Y1 - 2017/1/24
N2 - 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.
AB - 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.
KW - air cushion
KW - Human-friendly robot
KW - omnidirectional wheels
KW - suppression mechanism
UR - http://www.scopus.com/inward/record.url?scp=85014053247&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85014053247&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2016.7832302
DO - 10.1109/ICCAS.2016.7832302
M3 - Conference contribution
SP - 74
EP - 79
BT - ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PB - IEEE Computer Society
ER -