著者

近藤 修平 Luis CANETE 高橋 隆行

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2015 (ISSN:24243124)

巻号頁・発行日

pp._1P2-G03_1-_1P2-G03_4, 2015-05-17 (Released:2017-06-19)

被引用文献数

1 1

---

In this paper, a control method for controlling the dual arm manipulator of the inverted pendulum type assistant robot while performing object hand over is presented. To reduce the complexity and increase the robustness, a partitioned control that separates the body and arm control while treating the other as a disturbance is proposed. To estimate the disturbances, the ESO is implemented on both subsystems. The development of the control and results of actual tests are presented.