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As the development of electrical transportation systems, two-wheeled mobile robots have been widely studied because of the high mobility. Among them, the two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. However, wheel chairs cannot move lateral direction in general, and they sometimes fall down and cause into serious accidents. In this...
Conventional methods for storing and reproducing task are based on only the information of the actuators in the robot. However, in these methods, reproducing the stored task is difficult when the environment differs from that in storing phase. This is because these methods consider a meaningful task as just a motion. In this paper, to reproduce a stored task even if the environment differs from that...
Master-slave robots with transmission of force sensation have gotten a lot of attention. 4ch-bilateral control realizes the transmission. Realizing lightweight multi-DOF robots for the system and compensating adverse effects based on communication delay are challenges for the system. For realizing lightweight multi-DOF robots, tendon-driven mechanisms are suitable as driven systems and driving systems...
Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This interface helps the operator by taking a task and reduces his/her workload. However, the delay caused by the sensors deteriorates the synchronization performance and transparency of the MCBC. Therefore, synchronization...
Stacked piezoelectric actuators are suitable for micro manipulation since it has a high positional resolution and large generative force. However, it is difficult to control acceleration of piezoelectric actuator because of its hysteresis characteristic and spring characteristic. Therefore in this paper, piezo disturbance observer (PDOB) is proposed. Because PDOB treats hysteresis characteristic and...
It is hoped that robots are utilized in environments where human lives. Robots should work safely and perform complicated tasks. For safety, precise force control and lightweight mechanism are important because robots contact with human. In order to perform complicated tasks, multi-degrees-of-freedom system is needed. Tendon-driven system is able to achieve precise motion control and complicated tasks...
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