曲率をもつ三つのリンクで構成されたロボットの運動制御 : 第1報,ロボットのコンセプトとダイナミックな制御

抄録

The authors developed several kinds of robots having a smaller number of actuators than of links. Motion control of these robots was successfully accomplished using dynamic interference forces. For example, we developed a swing and mobile robot constituted of pivoted double-link arms and one motor. This robot could shift from one horizontal bar to an another by utilizing vibrational excitation. In this study, we elaborated a robot composed of three serial links with a curved contour and made it perform several dynamic actions. The outer contour of each link has a large curvature, and the links are connected serially. The outer two links of the robot have the same configuration although the center one is different. Two DC servomotors are installed in the outer two links. They can rotate freely around the connected joints and constitute a part of a large arc at a certain angle by controlling the motion of the outer two links. This robot can induce large vibration on all links by swinging the outer two links while lying on the floor and finally bringing itself to a standing position. On the other hand, the robot can lie down from a standing posture without sustaining a shock on impact. The robot can perform actions like those of young children on the floor. In this paper, we mainly report the concept of the robot, the simulation procedure and experimental results for the standing-up action.