近接覚に基づく粘弾性を用いた接触遷移制御の基礎検討

抄録

This paper proposes a novel method to control contact transitions. The proposed method uses an optical reflective proximity sensor and reduces impact forces during a collision. The smooth contact transition achieved by the proposed method will be helpful for many robot tasks, such as grasping a fragile object, soft landing, and human interaction. There exist three fundamental points underlying our approach. The first is to utilize the proximity sensor as a virtual force sensor. The second pertains the regulation of the virtual elastic force magnitude to gevern the contact state. The third is to use the virtual force as an input for our serial-combined impedance controller. We confirmed the usefulness of the proposed method through an experiment.