人間共存型ロボットのための衝突緩和システムに関する研究

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2021/09/01

タイトル(英語): Collision Force Suppression System for Human-Friendly Robot

著者名: 張　斌（神奈川大学），田中　直人（神奈川大学），林　憲玉（神奈川大学）

著者名(英語): Bin Zhang (Robotics Labs., Kanagawa University), Naoto Tanaka (Robotics Labs., Kanagawa University), Hun-ok Lim (Robotics Labs., Kanagawa University)

キーワード: 衝突緩和機構，衝突緩和システム，ヒューマンセフティーロボット，人間共存型ロボット　　collision force suppression mechanism，collision force suppression system，human-safety robot，human-friendly robot

要約(英語): A collision force suppression system for a human friendly robot, which consists of two arms, a trunk, a waist, an omnidirectional mobile base, is proposed. In this paper, the proposed passive collision force suppression system is realized by the collision force suppression mechanisms and the reaction system. When the collision occurs between the robot and an object, the joints of the arm and the waist are disconnected by the collision force suppression mechanism depending on the magnitude of collision forces. The reaction system is based on the strength and existence time of the collision force, and the joints are disconnected by the order of arm and waist, and the finally the mobile base will move if the reactions are not enough to decrease the passive force. The effectiveness of the proposed system is proven by experiments.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.141 No.9 （2021） 特集：知能メカトロニクス分野と連携する知覚情報技術

本誌掲載ページ: 1016-1022 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/141/9/141_1016/_article/-char/ja/