マニピュレータを用いた油圧式モジュラーロボットの合体制御

抄録

Hydraulic modular robots aim to be used at disaster sites because of their high output, transport efficiency，versatility, and maintainability．This paper aims to automate the process of connecting and disconnecting modular robots by manipulators, and to build various robots according to the environment．We present the results of automatic docking control of a module robot by a compliance controllable manipulator robot．Each module is designed so that it can be attached and detached using holes and dowels provided on the surface．The position of the module robot was determined using a magnetic sensor and an IMU，and robust attachment operations were realized．