SpiderBot™ : A New Silver Robot Platform for the Elderly and the Handicapped

• 영문명: SpiderBot™ : A New Silver Robot Platform for the Elderly and the Handicapped
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Jeha Ryu Hossein S.Farahani Bohyun Kim Sung-Gaun Kim Nam-Gyun Kim
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.5 No.3, 9~16쪽, 전체 8쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2004.10.01

영문 초록

  This paper presents a new silver robot platform, SpiderBot™. The assistance scenario and conceptual design of the Spider Bot™ for better performance compared to the conventional mobile silver robots are discussed. The conceptual design is addressed considering real residence environment, human friendliness, and user convenience. The design is divided into mechanical parts, control parts, driving parts, sensor parts, and end-effectors. Loading condition and loading scenario for various assistance modes are briefly investigated to meet various requirements for the elderly and the handicapped. The dynamic model of the robot, adaptive control was simulated to verify the feasibility of the SpiderBot™ platform.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. BASIC CONFIGURATION AND ASSISTANCE SCENARIOS
Ⅲ. DESIGN CONSIDERATIONS
Ⅳ. CONCEPTUAL DESIGN
Ⅴ. LOAD CONDITIONS
Ⅵ. DYNAMIC MODEL
Ⅶ. WIRE TENSION SIMULATION
Ⅷ. ADAPTIVE CONTROLLER
Ⅸ. CONCLUSIONS AND FUTURE WORK
ACKNOWLEDGEMENTS
REFERENCES

키워드

Abstract