多関節機構を有するロボットの多形態・自在移動機構(Vroid I)の一考え方 : 第1報,Vroidの基本動作と冗長性を考慮した関節負荷配分制御方法

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This paper presents a new concept of a flexible mobile and versatile shape reconfigurable control mechanism of a robot, called a versatile robotnoid (Vroid), which can be applied for plant maintenance works and other outdoor operational works, where its working environments are restricted due to mobil space and terrain. The Vroid I based on the multiple link-wheel mechanism has abilities of passing through rough terrains, passing over obstacles and going up and down stairways. Compared the Vroid I with conventional wheel, crawler and legged locomotion types of the mobile mechanisms, the proposed one is considered to be superior to those from the viewpoint of flexibility and adaptability to working environments. Utilizing the redundancy of joints in degrees of freedom, a method of the joint static control sequence is proposed to minimize the torques required to joint rotation under some constraints, which can easily be solved by the linear programming approach.
一般社団法人日本機械学会の論文
1986-02-25