Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2

Toshio Morita, Koji Shibuya, Shigeki Sugano

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

    36 Citations (Scopus)

    Abstract

    The objective of this study is to investigate design and control strategies for realizing human-robot symbiosis, and to develop a human symbiotic humanoid robot, Hadaly-2, which can communicate and collaborate with human. In this paper, mechanism design methodologies, specifications, and control strategies of a mobile manipulation system of the Hadaly-2 will be described. First, mechanism design concepts of the manipulation system for the human symbiotic robot are proposed. Next, two force controlled anthropomorphic manipulators (WAM-10R, and L) and a body-vehicle mechanism are developed in consideration of the design concepts. Then, the communication and collaboration abilities of Hadaly-2 are evaluated by means of several behaviors, such as gesture motion, shaking hands with human, and block carrying tasks. From the results of evaluation experiments, it is confirmed that the Hadaly-2 can realize efficient interaction and collaboration with human.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Editors Anon
    PublisherIEEE
    Pages1315-1320
    Number of pages6
    Volume2
    Publication statusPublished - 1998
    EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
    Duration: 1998 May 161998 May 20

    Other

    OtherProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
    CityLeuven, Belgium
    Period98/5/1698/5/20

    Fingerprint

    Robots
    Manipulators
    Specifications
    Communication
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Morita, T., Shibuya, K., & Sugano, S. (1998). Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1315-1320). IEEE.

    Design and control of mobile manipulation system for human symbiotic humanoid : Hadaly-2. / Morita, Toshio; Shibuya, Koji; Sugano, Shigeki.

    Proceedings - IEEE International Conference on Robotics and Automation. ed. / Anon. Vol. 2 IEEE, 1998. p. 1315-1320.

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

    Morita, T, Shibuya, K & Sugano, S 1998, Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2. in Anon (ed.), Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, IEEE, pp. 1315-1320, Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4), Leuven, Belgium, 98/5/16.
    Morita T, Shibuya K, Sugano S. Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2. In Anon, editor, Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. IEEE. 1998. p. 1315-1320
    Morita, Toshio ; Shibuya, Koji ; Sugano, Shigeki. / Design and control of mobile manipulation system for human symbiotic humanoid : Hadaly-2. Proceedings - IEEE International Conference on Robotics and Automation. editor / Anon. Vol. 2 IEEE, 1998. pp. 1315-1320
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