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 spilling of the liquid when the spoon is transferred. In order to avoid spilling 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.

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We constructed a spherical pendulum model to represent liquid sloshing in a cylindrical container due to the motions of a wheeled mobile robot (WMR). The model is used to design paths and acceleration patterns for the WMR based on the damping of sloshing. The path curvature radius and WMR acceleration pattern are determined using input shaping. A PD controller enables the WMR to trace the designed path. Maximum sloshing displacement is a constraint condition in control transfer. Simulations and experiments clarified the effectiveness of our method.