面向人机物理交互的变形张拉整体结构机器人评价

2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2019-10-01 DOI:10.1109/ARSO46408.2019.8948781

Satoshi Yagi, S. Kang, Shiqi Yu, Hamed Mahzoon

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引用次数: 4

摘要

本研究的目的是开发一种具有长度可变支柱和肌腱的自适应变形张拉整体结构机器人，用于物理人机交互(pHRI)。这种张拉整体结构可以根据环境的限制改变形状，即使没有通过中央计算机的传感控制网络，也可以通过与弹簧的反应来移动支柱。两种约束条件下的实验结果表明，该张拉整体机构能够在跟踪执行器运动的同时自适应改变机器人的形状。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Evaluation of Shape-Changing Tensegrity Structure Robot for Physical Human-Robot Interaction

The purpose of this research is to develop an adaptive shape-changing tensegrity-structured robot with length-variable struts and tendons for physical Human-Robot Interaction (pHRI). The tensegrity mechanism enables the shape to change against environmental constraints and allows the struts to move in conjunction by reacting with the springs, even without a sensory control network via a central computer. Experimental results from two constraint situations show that this tensegrity mechanism enables the robot to shape-change adaptively while keeping track of actuator movement.

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来源期刊

2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)

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