多自由度ロボットにおける機構自由度の縮退を利用したアクチュエータの選択的利用

抄録

In general, robot should not be operated while it is in a singular configuration since operation degenerates its degrees of freedom. However, humanoid robots are capable of performing tasks while in a state of singular configuration because humanoid robots have many degrees of freedom. In this paper, new task method is proposed for humanoid robots, featuring selective utilization of their actuators while in the singular configuration. First, we define the effective singular configuration for a task and introduce a classification for joints. Next, we propose a method to identify the joint as effectively having a singular configuration. Finally, we demonstrate physical simulation results that include leading a robot in the singular configuration through the task. The advantages of the proposed method are that it supports economizing the robot's energy consumption and applies more power to the hand.