3-D Transfered Control using Spilling Avoidance Control for Meal Assist Robot by using CFD Simulator

被引：2

作者：

Yano, Ken'ichi ^{[1
]}

Kuriyama, Yoshifumi ^{[1
]}

机构：

[1] Gifu Univ, Dept Human & Informat Syst, Gifu, Japan

来源：

2008 10TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION: ICARV 2008, VOLS 1-4 | 2008年

关键词：

3-D transfered control; Spilling Avoidance; CFD simulator;

D O I：

10.1109/ICARCV.2008.4795793

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In the near future, there will be a significant problem obtaining workers in the fields of welfare and nursing care because of a labor shortage. To solve this problem, many welfare robots, such as an upper extremity motion assistance robot and a meal assistance robot, have been studied. The purpose of this paper is to avoid spitting of the liquid when the spoon is transferred. In order to avoid spitting of the liquid, a spilling model was evaluated by using a CFD simulator. Thus, it was not necessary to build an exact model of the spilling model mechanism. The effectiveness of the proposed control is shown by CFD simulations and experiments.

引用

页码：1758 / 1763

页数：6

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