휴머노이드 하반신 로봇(CHP-1)의 자세를 고려한 협조 동작 성능 향상

摘要

The lower part of a humanoid robot CHP-1 having a 12 degree-of-freedom of motion has been developed for cooperative motion such as pushing or lifting an object, and its capability is mainly dependent on the performance of the motors. The original CHP-1 has a problem that the robot does not satisfy the desired specification. As a result, the robot abruptly stops especially when the motor is overloaded; a little excessive external force is exerted on the robot or the robot moves in a large operation area. To overcome such a problem, given the requirement, this study analyzes the motion of the CHP-1 through simulation for various cooperative motions. Resultantly, the performance of the robot is to be improved for carrying out real cooperative work in future.