Control and mechanisms for collision-tolerant human friendly robots 衝突安全性を考慮したロボットシステムに関する研究
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Bibliographic Information
- Title
-
Control and mechanisms for collision-tolerant human friendly robots
- Other Title
-
衝突安全性を考慮したロボットシステムに関する研究
- Author
-
林, 憲玉
- Author(Another name)
-
リン, ホンオク
- University
-
早稲田大学
- Types of degree
-
博士(工学)
- Grant ID
-
甲第1371号
- Degree year
-
1999-03-15
Note and Description
博士論文
制度:新 ; 文部省報告番号:甲1371号 ; 学位の種類:博士(工学) ; 授与年月日:1999-03-15 ; 早大学位記番号:新2809 ; 理工学図書館請求番号:2315
Table of Contents
- Contents / p5 (0007.jp2)
- Abstruct / p1 (0003.jp2)
- Acknowledgments / p3 (0005.jp2)
- Notation / p9 (0011.jp2)
- 1 Introduction / p1 (0013.jp2)
- 1.1 Thesis Outline / p3 (0015.jp2)
- 1.2 Related Research / p4 (0016.jp2)
- 1.3 Research Approach / p9 (0021.jp2)
- 1.4 Thesis Overview / p9 (0021.jp2)
- 1.5 Publication Notes / p10 (0022.jp2)
- 2 Robot Structure for Human Robot Symbiosis / p13 (0025.jp2)
- 2.1 Introduction / p13 (0025.jp2)
- 2.2 A Human Friendly Robot / p14 (0026.jp2)
- 2.3 Problem Statement of the PMHFRPT / p16 (0028.jp2)
- 2.4 Characteristics of the PMHFRPT / p18 (0030.jp2)
- 2.5 Concluding Remarks / p26 (0038.jp2)
- 3 Dynamics of the PMHFRPT / p27 (0039.jp2)
- 3.1 Introduction / p27 (0039.jp2)
- 3.2 Definitions / p28 (0040.jp2)
- 3.3 Modeling of PMHFRPT / p29 (0041.jp2)
- 3.4 Trunk Model / p31 (0043.jp2)
- 3.5 Contact Model / p32 (0044.jp2)
- 3.6 Friction Model / p34 (0046.jp2)
- 3.7 Concluding Remarks / p38 (0050.jp2)
- 4 Control of the PMHFRPT / p41 (0053.jp2)
- 4.1 Introduction / p41 (0053.jp2)
- 4.2 Collision-tolerant Control / p43 (0055.jp2)
- 4.3 Concluding Remarks / p47 (0059.jp2)
- 5 Collision Simulations / p49 (0061.jp2)
- 5.1 Introduction / p49 (0061.jp2)
- 5.2 Simulation Model / p50 (0062.jp2)
- 5.3 Collision Situations / p54 (0066.jp2)
- 5.4 Simulation Results / p61 (0073.jp2)
- 5.5 Discussion / p80 (0092.jp2)
- 5.6 Concluding Remarks / p81 (0093.jp2)
- 6 Collision Experiments / p83 (0095.jp2)
- 6.1 Introduction / p83 (0095.jp2)
- 6.2 Experimental Setup / p84 (0096.jp2)
- 6.3 Installation of Passive Compliant Trunk and Movable Base / p86 (0098.jp2)
- 6.4 Experimental Schemes / p88 (0100.jp2)
- 6.5 Experimental Results / p89 (0101.jp2)
- 6.6 Discussion / p94 (0106.jp2)
- 6.7 Concluding Remarks / p95 (0107.jp2)
- 7 Conclusions and Future Work / p97 (0109.jp2)
- 7.1 Conclusions / p97 (0109.jp2)
- 7.2 Discussion and Future Work / p99 (0111.jp2)
- Bibliography / p101 (0113.jp2)
- List of Publications / p115 (0127.jp2)
