Abstract
In this study, we investigated a mechanism that allows a mobile robot to apply a large force to the environment. We first investigated the limits on the force that a mobile robot can apply to a target object by analyzing the forces between the robot, ground, and object and the limits on the frictional forces between them. To prevent the mobile robot from falling when applying a large force, we developed a prototype in which the manipulator was connected via a passive rotational joint. We investigated the pushing capacity of the prototype robot through an experiment in which it tilted a large object. The results confirmed that the mechanism allows a mobile robot to apply a large force to an object without falling by trial and error.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Lynch, K.: The mechanics of fine manipulation by pushing. In: Proceedings IEEE International Conference on Robotics and Automation. pp. 2269–2276 (1992)
Lynch, K., Mason, M.: Stable pushing: mechanics, controllability, and planning. Int. J. Robot. Res. 15(6), 533–556 (1996)
Mason, M.: Mechanics of Robotic Manipulation. MIT press (2001)
Harada, K., Kajita, S., Kaneko, K., Hirukawa, H.: Pushing manipulation by humanoid considering two-kinds of zmps. In: Proceedings IEEE International Conference on Robotics and Automation. pp. 1627–1632 (2003)
Murooka, M., Nozawa, S., Kakiuchi, Y., Okada, K., Inaba, M.: Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot. In: Proceedings IEEE International Conference on Robotics and Automation. pp. 5682–5689 (2015)
Yoshida, E., Poirier, M., Laumond, J.P., Kanoun, O., Lamiraux, F., Alami, R., Yokoi, K.: Pivoting based manipulation by a humanoid robot. Auton. Robots 28(1), 77–88 (2010)
Murooka, M., Noda, S., Nozawa, S., Kakiuchi, Y., Okada, K., Inaba, M.: Manipulation strategy decision and execution based on strategy proving operation for carrying large and heavy objects. In: Proceedings IEEE International Conference on Robotics and Automation. pp. 3425–3432 (2014)
Maeda, Y., Kijimoto, H., Aiyama, Y., Arai, T.: Planning of graspless manipulation by multiple robot fingers. In: Proceedings IEEE International Conference on Robotics and Automation. pp. 2474–2479 (2001)
Vukobratović, M., Stepanenko, J.: On the stability of anthropomorphic systems. Math. Biosci. 15(1), 1–37 (1972)
Goswami, A.: Postural stability of biped robots and the foot-rotation indicator (fri) point. Int. J. Robot. Res. 18(6), 523–533 (1999)
Ueda, M., Iwata, K., Shingu, H.: Tactile sensors for an industrial robot to detect a slip. In: Proceedings International Symposium on Industrial Robots. pp. 63–70 (1972)
Acknowledgements
A part of this study is the result of “HRD for Fukushima Daiichi Decommissioning based on Robotics and Nuclide Analysis” carried out under the Center of World Intelligence Project for Nuclear S&T and Human Resource Development by the Ministry of Education, Culture, Sports, Science and Technology of Japan.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Shirafuji, S., Terada, Y., Ota, J. (2017). Mechanism Allowing a Mobile Robot to Apply a Large Force to the Environment. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_58
Download citation
DOI: https://doi.org/10.1007/978-3-319-48036-7_58
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48035-0
Online ISBN: 978-3-319-48036-7
eBook Packages: EngineeringEngineering (R0)