This paper disusses the condition for realizing Sell-Posture Changing Motion (SPCM) . With a proper combination of a compliant joint and a position-controlled joint, a link system has the capability of changing its posture while maintaining contact between inner link and environment over an angular displacement at the position-controlled joint, The series of these motions is so-called SPCM. The condition for realizing SPCM depends on many factors, such as the object's shape where the link contacts, the frictional coefficient at the point of contact, link posture, the compliance of the system and so on. While we have obtained a sufficient condition leading to SPCM in our former works, this condition normally provides the severer condition than the actual one. After proving that a pure thcoretical approach never provides the necessary and sufficient condition, we have examined how actual SPCMs stop. Through experiments, we newly found an interesting coatact force behavior, namely, it shoots up after a particular link configuration and an SPCM stops after this force behavior. After analyzing the mechanism of this characteristic, we propose a new control strategy which suppresses the increase of contact force and contributes to extending the link posture leading to SPCM.
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