Mechanism allowing large-force application by a mobile robot, and development of ARODA
作者: Shouhei ShirafujiYuri TeradaTatsuma ItoJun Ota
作者单位: 1Research into Artifacts, Center for Engineering, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa-shi, Chiba, 277-8568, Japan
2The Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
刊名: Robotics and Autonomous Systems, 2018
来源数据库: Elsevier Journal
DOI: 10.1016/j.robot.2018.09.005
关键词: Mobile robotLarge forceNonprehensile manipulation
原始语种摘要: Abstract(#br)This study proposes a mechanism and a methodology for large force input to the environment by a mobile robot. To determine the limits on the force that a mobile robot can apply to a target object, we analyzed the forces between the robot, ground, and object, and the frictional-force limits between any two of these three bodies. To prevent the mobile robot from falling during the large-force application, the manipulator is connected to the robot via a passive rotational joint. This mechanism enables the mobile robot to search the environmental parameters. A new mobile robot fitted with the proposed mechanism, named ARODA, was developed. In a validation experiment, the developed mobile robot successfully tilted a relatively large and heavy object while searching the...
全文获取路径: Elsevier  (合作)
影响因子:1.156 (2012)

  • robot 机扑
  • mobile 可动的
  • large 大的
  • force 
  • application 申请
  • manipulator 控制器机械手
  • object 目标
  • limits 范围
  • parameters 参数
  • apply 应用