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

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

    研究成果: Conference contribution

    1 引用 (Scopus)

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトルInternational Conference on Control, Automation and Systems
    出版者IEEE Computer Society
    ページ29-33
    ページ数5
    2018-October
    ISBN(電子版)9788993215151
    出版物ステータス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
    Korea, Republic of
    PyeongChang
    期間18/10/1718/10/20

      フィンガープリント

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    これを引用

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