抄録
In this paper, a control method for controlling the dual arm manipulator of the inverted pendulum type assistant robot while performing object hand over is presented. To reduce the complexity and increase the robustness, a partitioned control that separates the body and arm control while treating the other as a disturbance is proposed. To estimate the disturbances, the ESO is implemented on both subsystems. The development of the control and results of actual tests are presented.
