Development of embodiment model and control method of complex structured robot

Abstract

The use of robots is expected not only for industrial fields but also for non-industrial fields, such as medical, welfare, disaster rescue, and so on. Non-industrial robots, however, are always exposed to a change of working environment to be different from industrial robots. So they are required to move with taking a various pose to be adaptively desired for a change of working environment. This paper presents a framework of robot motion control based on interaction between robot embodiments and working environments, and describes the detail of the embodiment model proposed for representing robot poses and motions.