拮抗腱駆動ロボットの適応力向上のための動特性推定とセンサ変数間の相関推定に関する考察

抄録

Robots that coexist and work with human are required to have safety and adaptability to changed motion properties to be able to use various tools like human and cope with bad conditions. This paper proposes a method to estimate motion properties of a robot that requires only short duration and information available from sensors mounted on the robot. We also propose a control method which contains estimated values, then verify the behavior and extendability of proposed method by simulation of tendon driven arm robot including elasticity that might be used actually in future for higher safety. Furthermore, we discuss evaluation of dependency among data from sensors to automatically select which relation among sensor variables to estimate for higher adaptivity and autonomy of robots.