1P2-S10 低インピーダンスマニピュレータを有する移動台車型ロボットによる可変構造を持つ家具の操作法
詳細
In daily living and working environment, there are many structured furniture such as fridge and cabinet, etc. Therefore, being able to manipulate these kind of objects is considered as an important ability for daily life supporting robot. In this paper, we propose a simple method for robot with low impedance manipulator to manipulate structured furniture by feeding back only the end effector's position. We will also discuss how we identify the object's handle and our manipulation system that includes moving of the robot's base.
