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月 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月 16 → 2016 10月 19 |
Other
| Other | 16th International Conference on Control, Automation and Systems, ICCAS 2016 |
|---|---|
| 国/地域 | Korea, Republic of |
| City | Gyeongju |
| Period | 16/10/16 → 16/10/19 |
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