万能真空吸着に基づく自重補償と転倒防止機能を有するヒューマノイドロボット

抄録

In this paper, a humanoid robot, named Q-bot is proposed, which is used in convenience stores in the future. The Q-bot is designed as a small sized crane based on universal vacuum gripper of its foot sole, which holds its body by vacuum force as a compensation of its small weight. Moreover, the foot vacuum prevents Q-bot from its fall over by reaction force of works. such as driling a wall. The robot has several functions of dual-armed manipulation and omni-directional movability, and the tips of arms and a foot equipped with a universal vacuum gripper for adhering to uneven surface. This paper reports the development status of the robot and the experiment which is possible to prevent the robot from falling when the robot adhering to the ground, grips heavy objects.