Roddy: ロッド理論に基づくSeries Elasticロボットマニピュレーション

抄録

In this paper, we propose a series elastic manipulator based on the rod theory, called ”Roddy”. The proposed manipulator consists of a low-stiffness elastic rod with a 6-axis force sensor, a conventional manipulator and its end-effector. This elastic part is placed between a conventional manipulator and its end-effector in series. Thanks to the rod theory, the shape of the elastic rod can be estimated from the force/torque information in real time. By this new series-elastic manipulator, we can expect to tackle the precise tasks which need impulsive interactions. Experimental results show that the proposed manipulator mitigates the impulsive interaction forces, which suggests that this manipulator can achieve tasks with impulsive interactions safely.