外力推定を用いたモバイルマニピュレータによるドア開け

抄録

In recent years, the demand for cobots that share space with human has been increasing. Since the positions of objects in the shared space are uncertain, it takes time to teach the robot using conventional methods. Therefore, to reduce the teaching time, the external force estimation and admittance control are performed. In this study, as an example of working in a shared space, the robot that opens and closes the door is shown.