小型ロボットにおける通信に基づくコネクタ脱着故障の認識とケーブル装着修理動作の実現

抄録

In recent years, the development and research of robots has progressed, and they have been introduced in various fields. As one of the uses, robots are expected to perform work in the places that are too dangerous for humans to work. If the robots malfunctions in such a place, human can’t repair them. Therefore, other robots have to repair them.We targeted the connector removal for repair because the cable is involved in many other components of robot.In this study, repairing robot recognized the connector detachment point using communication between repairing robot and small robot. By communication, information that only small robots have can be used for repairs. Besides, the cable has a terminal unlike the strings, then repairing robot attached cable by taking advantage of its characteristics.