MG314 小型ヒューマノイドロボットによる「抱き起こす動作」の研究(MG31 医療福祉ロボット,あたり前のことを知る)

概要

論文の詳細を見る
The research of the taking up motion by small humanoid robots was done. The experiment that the small humanoid robot SANSYRO II took up the small humanoid robot KHR-1 was done. It was became clear that securing of the foothold was important to lift mass same as oneself The robot which improved SANSYRO II, TASUKE I was developed. The elbows were used effectively, and TASUKE I was lifted to the position to make KHR-1 stand up. Elasticity bodies were assembled to cover the deficiency of torque. The formula of the torque by the elasticity body was derived, and a graph was drawn to decide the assembling position of the elasticity body. The research of Humanoid that a person was helped has just been started and this laboratory will push forward a study of the TASUKE series in future.
社団法人日本機械学会の論文
2007-09-30