衝突緩和制御における初期値補償法の適用

抄録

Robots are expected to be used as service robots or nursing care robots. Collision mitigation technologies are very important for those kinds of robots, because they are afraid to have collisions with humans. To cover robots with buffer materials and to use elastic actuators are effective to keep safe. And collision mitigation control is also important because to keep a position control will not be the best way to keep safe. In this paper, collision mitigation control law to make the impact force smaller is discussed. To give the maximum opposite force may be the best way, but a reaction movement becomes very large. The initial value compensation is applied to suppress the reaction movement and confirmed its effectiveness.