Model Identification of Passive Electric Assist Balancer for Ultra-Portable Motion of Industrial Cooperative Humanoid Robot

Abstract

Cooperative robots are characterized by their ability to work together with humans. However, cooperative robots cannot handle heavy objects. Therefore, we propose a power-assist technology for cooperative robots that enables ultra-portable work. In this technology, a human-operated assist device is applied to a cooperative robot. However, cooperative robots do not learn the characteristics of assist devices like humans do. In this paper, we discuss the difference between human and cooperative robot manipulation using a model of the assist device.