多連結移動ロボットのための3次元局所体形変化システム

抄録

The paper presents an interface system which locally changes a posture of an articulated mobile robot. In the system, we assign two points in the robot’s body, one is the base point, and the other is the controlled point. In addition, we set the position of the target point in the system. The robot can locally change its form by controlling the joints as a redundant manipulator. The effectiveness of the proposed system is demonstrated by using a physical simulator.