Research on a Human-Symbiotic Robot using Inverted Pendulum-type Mobile Base

摘要

A human-symbiotic robot needs to provide both safety for human and function of avoiding dameges for the objects around the robot along with task performing ability. It is, however, not easy to be compatible with each other. We suggest a two wheeled inverted pendulum-type mobile robot which consists of a dual-manipulator system, a body with two links and a middle joint, and an inverted pendulum-type mobile base. The following three tasks are assigned to the robot as its basic functions: handling a small object on a desk or a floor, carrying a heavy object, and sitting down and standing up. The goal of this research is to realize above tasks with taking account of safety for human and the task performance ability. This paper presents the concept of the research and the specific way to realize these tasks and shows the mechanical design of the robot.