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

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

    研究成果: Conference contribution

    1 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
    出版社IEEE Computer Society
    ページ74-79
    ページ数6
    ISBN(電子版)9788993215120
    DOI
    出版ステータスPublished - 2017 1 24
    イベント16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
    継続期間: 2016 10 162016 10 19

    Other

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

    ASJC Scopus subject areas

    • 人工知能
    • コンピュータ サイエンスの応用
    • 制御およびシステム工学
    • 電子工学および電気工学

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