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.
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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.
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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
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DOI: https://doi.org/10.1007/978-3-319-48036-7_58
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