Design and control of 9-DOFs emotion expression humanoid arm

Hiroyasu Miwa, Kazuko Itoh, Daisuke Ito, Hideaki Takanobu, Atsuo Takanishi

Research output: Contribution to journalConference article

21 Citations (Scopus)

Abstract

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We considered that human arms play an important role. And, in 2003, we developed the 9-DOFs Emotion Expression Humanoid Arm. Then, we developed the Emotion Expression Humanoid Robot WE-4R (Waseda Eye No.4 Refined) by integrating the new arms into the Human-like head robot WE-4. Moreover, we introduced the new control algorithm for robot arm with redundant DOF into WE-4R. The new control algorithm was described by the function of geometric constraint and robot emotion. In this paper, we describe the mechanical design and the control algorithm of 9-DOFs Emotion Expression Humanoid Arm.

Original languageEnglish
Pages (from-to)128-133
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number1
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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