人間の上肢と同等の表現力を有する双腕マニピュレータ

―冗長自由度を含む逆運動学の検討―

抄録

In recent years, robots have attracted attention as a new labor force. Therefore, it is thought that highly robust communication is required between robot and human. In this research, we try to realize the contact communication operation with high affinity between the human and the robot, using manipulators with expressive power equivalent to human beings. In this paper, we discuss the inverse kinematics including the redundancy degree of freedom required for controlling the manipulator.