自重を補償するモジュールロボットの提案

抄録

In modular robotics, the robot construction method by combining robot modules has been proposed. Although the modular robot system is expected to have great versatility in its shape, combining a large number of modules results in an increase of the total weight and torque deficiency. In this study, we propose a gravity compensation modular robot in order to solve this problem. This method gets rid of the limitation on number of modules that configure a robot, and enables the modular robot system to construct more diverse shapes. In this paper, we describe the method of gravity compensation, the control method (under consideration) of the module, fabrication of a prototype of the module and mention future works at the end.