208206 特定関節の負荷トルクを軽減するアクチュエータの選択的利用(OS17 ロボティクス・メカトロニクス3,オーガナイズド・セッション)

概要

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Recently, many researchers are investigating about humanoid robot. The humanoid robot is expected to perform actual tasks in the human living environment in the future. However, The humanoid robot has not enough hand operational force for real tasks. Therefore, it may happen to fail a task or break robot parts if the excessive force at the end effector is applied. We propose applying the pose in which the load is not applied on the specific joint to a robot's task, featuring selective utilization of their actuators. In this report, we propose method to derive the robot configuration which specific joint's torque becomes the zero and demonstrate weight lifting task by 3-link manipulator as one of the task in which the method is effective.
一般社団法人日本機械学会の論文
2011-03-17