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The International Journal of Robotics Research
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Human Safety Mechanisms of Human-Friendly Robots: Passive Viscoelastic Trunk and Passively Movable Base

Hun-Ok Lim

Department of Mechanical Engineering School of Science and Engineering, Waseda University 3-4-1 Okubo, Shinjuku, Tokyo, 169-8555 Japan

Kazuo Tanie

Department of Mechanical Engineering Laboratory, Agency of Industrial Science and Technology, Ministry of International Trade and Industry, 1-2 Namiki, Tsukuba, 305 Japan

We would like to give robots the ability to secure human safety in human-robot collisions capable of arising in our living and working environments. However, unfortunately, not much attention has been paid to the technologies of human robot symbiosis to date because almost all robots have been designed and constructed on the assumption that the robots are physically separated from humans. A robot with a new concept will be required to deal with human-robot contact. In this article, we propose a passively movable human-friendly robot that consists of an elastic material-covered manipulator, passive compliant trunk, and passively movable base. The compliant trunk is equipped with springs and dampers, and the passively movable base is constrained by friction developed between the contact surface of the base and the ground. During unexpected collisions, the trunk and base passively move in response to the produced collision force. We describe the validity of the movable base and compliant trunk for collision force suppression, and it is demonstrated in several collision situations.

Key Words: passive viscoelastic trunk • passive base • collision force suppression • compliance ellipsoid • redundancy

The International Journal of Robotics Research, Vol. 19, No. 4, 307-335 (2000)
DOI: 10.1177/02783640022066888
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