Paper Info
Title
Mechanism allowing large-force application by a mobile robot, and development of ARODA.
Abstract
This study proposes a mechanism and a methodology for large force input to the environment by a mobile robot. To determine the limits on the force that a mobile robot can apply to a target object, we analyzed the forces between the robot, ground, and object, and the frictional-force limits between any two of these three bodies. To prevent the mobile robot from falling during the large-force application, the manipulator is connected to the robot via a passive rotational joint. This mechanism enables the mobile robot to search the environmental parameters. A new mobile robot fitted with the proposed mechanism, named ARODA, was developed. In a validation experiment, the developed mobile robot successfully tilted a relatively large and heavy object while searching the environmental parameters (the frictional coefficients of the floor and object and the size of the object). Equipped with the proposed mechanism, the mobile robot refrained from falling while applying a large force to the object by trial and error.
Year
DOI
Venue
2018
10.1016/j.robot.2018.09.005
Robotics and Autonomous Systems
Keywords
Field
DocType
Mobile robot,Large force,Nonprehensile manipulation
Computer vision,Trial and error,Simulation,Computer science,Manipulator,Artificial intelligence,Robot,Mobile robot
Journal
Volume
ISSN
Citations 
110
0921-8890
0
PageRank 
References 
Authors
0.34
8
4
Name
Order
Citations
PageRank
Shouhei Shirafuji12010.19
Yuri Terada201.35
Tatsuma Ito300.34
Jun Ota401.01