New collision force suppression mechanism and base control of human-friendly robot

Naoto Tanaka, Takayuki Iwama, Shunsuke Kumagai, Atsuo Takanishi, Hun ok Lim

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

    1 Citation (Scopus)

    Abstract

    This paper describes a human-friendly robot capable of securing human safety in human-robot collisions. The upper body of the robot has 11 DOFs, including 3 DOFs in the waist, 2 DOFs in each shoulder, 1 DOF in each elbow and 1 DOF in each hand. The upper body is mounted on the base with four omnidirectional wheels. A new light-weight collision force suppression mechanism that is able to operate with very little backlash was developed and was installed at the elbow of the human-friendly robot. The suppression mechanism consists a drum, a clutch gear, two release air bag, two stopper linings, and four compression springs. Also, a base control method to secure human safety is discussed. Through collision experiments, the effectiveness of the collision force suppression mechanism and control method is verified.

    Original languageEnglish
    Title of host publicationInternational Conference on Control, Automation and Systems
    PublisherIEEE Computer Society
    Pages29-33
    Number of pages5
    Volume2018-October
    ISBN (Electronic)9788993215151
    Publication statusPublished - 2018 Dec 10
    Event18th International Conference on Control, Automation and Systems, ICCAS 2018 - PyeongChang, Korea, Republic of
    Duration: 2018 Oct 172018 Oct 20

    Other

    Other18th International Conference on Control, Automation and Systems, ICCAS 2018
    CountryKorea, Republic of
    CityPyeongChang
    Period18/10/1718/10/20

    Keywords

    • Air cushion bag
    • Human safety
    • Human-friendly robot
    • Soft cover
    • 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

    Tanaka, N., Iwama, T., Kumagai, S., Takanishi, A., & Lim, H. O. (2018). New collision force suppression mechanism and base control of human-friendly robot. In International Conference on Control, Automation and Systems (Vol. 2018-October, pp. 29-33). [8571925] IEEE Computer Society.