Abstract
This paper describes the base mechanism of a human-friendly robot. The base has four omnidirectional wheels, and is covered by an air cushion bag to absorb collision forces. The collision force suppression method of its base is also discussed. When a collision between an object and the base occurs, the collision contact force is suppressed by the air cushion bag and the base moves to the collision direction by the suppression method. Through collision experiments, the effectiveness of the base mechanism and the suppression method is confirmed.
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