抄録
For a robot working in human living space, accomplishing a task in human contact (i.e., in the condition that a human contact force acts on a body) is one of required skills. The paper focuses on external-force adaptation generated naturally from redundant degrees of freedom inherent in a system. It is shown in experiments using a six-joint robot arm that thanks to the kinematic redundancy the robot adapts to a contact force acting on the robot body while maintaining the specified endpoint orientation without any force sensors.
