Design and control of 9-DOFs emotion expression humanoid arm

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

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    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
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages128-133
    Number of pages6
    Volume2004
    Edition1
    Publication statusPublished - 2004
    EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
    Duration: 2004 Apr 262004 May 1

    Other

    OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
    CountryUnited States
    CityNew Orleans, LA
    Period04/4/2604/5/1

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    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Miwa, H., Itoh, K., Ito, D., Takanobu, H., & Takanishi, A. (2004). Design and control of 9-DOFs emotion expression humanoid arm. In Proceedings - IEEE International Conference on Robotics and Automation (1 ed., Vol. 2004, pp. 128-133)