Passive Mobile Robotics RealizingHuman Support with Safety and High Performance

在本研究中，我们提出被动式移动的机器人的概念，并设计移动的机器人及其运动控制算法，以有效地支持人类，并保持安全。在这个概念中，移动的机器人基于由人施加的外力/力矩移动，并且附接到轮子的制动系统适当地控制它们的运动。基于这种制动控制，我们实现了几种支持人类的功能。

In this research, we proposed a new concept called Passive Mobile Robotics and designed mobile robots and their motion control algorithms for supporting humans effectively with keeping the safety. In this concept, the mobile robots move based on the external force/moment applied by a human, and brake systems attached to the wheels control their motions appropriately. Based on this brake control, we realized several functions for supporting humans.