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

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

doi:10.1109/ICCAS.2016.7832302

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 proceeding › Conference 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 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	https://doi.org/10.1109/ICCAS.2016.7832302
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

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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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

Kumagai, S, Matsumoto, K, Takanishi, A & Lim, HO 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., 7832302, IEEE Computer Society, pp. 74-79, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832302

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