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

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

*この研究の対応する著者

    研究成果: Conference contribution

    2 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルInternational Conference on Control, Automation and Systems
    出版社IEEE Computer Society
    ページ29-33
    ページ数5
    2018-October
    ISBN(電子版)9788993215151
    出版ステータスPublished - 2018 12 10
    イベント18th International Conference on Control, Automation and Systems, ICCAS 2018 - PyeongChang, Korea, Republic of
    継続期間: 2018 10 172018 10 20

    Other

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

    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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