倒立振子型アシストロボット用軽量双腕マニピュレータの開発(機械力学,計測,自動制御)

概要

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This paper proposes a light-weight dual manipulator with 8 D.O.F for an inverted pendulum type assist robot. The manipulator has been designed to be a light-weight one, 3[kg], to assure safety and work ability, even it has 8 D.O.F and 1.75[kg] weight capacity. In order to realize various tasks by an inverted pendulum type robot some unique mechanisms are installed such as an extendable joint, a mechanical hinge stopper, and a wrist omni wheel. By using motion control with the mechanisms, the robot can achive various motions such as standing up and sitting down, picking an object on the ground, static traveling, handling a small object, and lifting a heavy object. A prototype manipulator and a control system were integrated and a basic operation experiment was performed.
2009-10-25