2P1-G16 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 : 機構設計と制御システム構築

概要

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This paper proposes a light-weight dual manipulators with multi-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 all inverted pendulum type robot some unique mechanisms are installed such as an extendable joint, a mechanical hinge stopper, and a wrist oinm wheel. By using motion control with the mechanisms, the robot can achieve various motions such as standing up and sitting down, picking an object on the ground, static traveling, handling a. small object, and lifting an heavy object. A prototype manipulator and a control system was integrated and a basic operation experiment was performed.
一般社団法人日本機械学会の論文
2009-05-25