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Proceedings Paper

Research on a human-symbiotic robot using inverted pendulum-type mobile base
Author(s): Akiko Tamura; Takayuki Takahashi
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Paper Abstract

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.

Paper Details

Date Published: 2 May 2006
PDF: 4 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 604239 (2 May 2006); doi: 10.1117/12.664698
Show Author Affiliations
Akiko Tamura, Tohoku Univ. (Japan)
Takayuki Takahashi, Fukushima Univ. (Japan)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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