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 |
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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 |
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Country/Territory | Korea, Republic of |
City | Gyeongju |
Period | 16/10/16 → 16/10/19 |
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