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With the development of robot technology, the activities of robots are expected to enter the human environment. Robots in human environment need the large-scale system with multi-degrees-of freedom for environmental adaptation. Therefore, it is necessary to design a large-scale system efficiently and simply. Tsuji et al. proposed function based control method. This method decouples a large control...
Recent years, the advanced robotic technologies are progressing, and the human motion support by robots is expected. For realizing the human motion support by robots, it is needed to consider the interaction among robots, humans, and unknown environment. Therefore in this paper, “physical extender,” “tool extender” and “environmental extender” are defined for human motion support. In this paper, “physical...
This article presents a biologically-inspired framework for postural and reaching control of a multi-segment humanoid robot. It is based mainly on the underpinning principles of human postural control as identified in a previous work by the author and tested experimentally on a one-segment special-purpose robot. Thus the goal of this article is to extend the control and estimation architecture to...
A high-speed motion control technique for inverted pendulum robots, utilizing instability and a disturbance observer, based on the Kalman filtering technique, is introduced. Inverted pendulums are basically controlled as they do not topple. Shimada et al. developed a contrary idea and presented a controller that deliberately off balanced the robot when it moved. To implement the idea, a controller...
This paper describes a strategy for a pushing operation by wheeled robot. In the conventional approach, the kinematics of the pushing object is mainly focused without considering the dynamical effects such as friction. In this case, it is difficult to cope with environmental variations since the contact point of pushing motion is fixed on the object's surface and the motion of the end effector is...
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