1A1-R13 油圧駆動型6脚ロボット脚部マニピュレータの異構造バイラテラルマスタ・スレーブ制御(極限作業ロボット)

抄録

The hydraulically driven hexapod robot named COMET-IV has been developed for a research of multi-platform for hazardous work since 2005. A lot of achievements have accomplished due to the objective and target of the development, including walking and operation on extremely uneven terrain. After the Great East Japan Earthquake, COMET-IV research group has taken initiative to involve and enhance its objective to take a part on the after-quake service operation. As one of the progress, COMET-IV is specialized to have an operation on removing rubble by the new mounted gripper on one of its leg. Master-slave control method with coordinate transformation is proposed. In this method, transformed coordinate of joystick by a homogeneous transformation matrix is reference of manipulator. In addition, Symmetric type bilateral control with coordinate transformation is proposed and applied to the Master-slave control system. Proposed methods are verified in the actual COMET-IV system in the laboratory.