Development of an anthropomorphic force-controlled manipulator WAM-10

Toshio Morita, Shigeki Sugano

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

    22 Citations (Scopus)

    Abstract

    This paper describes the development and the evaluation of an anthropomorphic force-controlled manipulator WAM-10 (Waseda Automatic Manipulator #10). The manipulator consists of a seven-D.O.F. whole arm, and a thirteen-D.O.F. four-fingered hand. A target of the WAM-10 is realization of human-robot symbiosis and collaboration ensuring collision safety. The developed arm employs an original joint mechanism, MIA (Mechanical Impedance Adjuster), which can realize ideal compliance and safety motion. The hand is designed with consideration of human interactive tasks, such as palmer grip. The results of the evaluation experiments show that the WAM-10 has capability of realizing high performance in compliant motion control.

    Original languageEnglish
    Title of host publicationInternational Conference on Advanced Robotics, Proceedings, ICAR
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages701-706
    Number of pages6
    Publication statusPublished - 1997
    EventProceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97 - Monterey, CA, USA
    Duration: 1997 Jul 71997 Jul 9

    Other

    OtherProceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97
    CityMonterey, CA, USA
    Period97/7/797/7/9

    Fingerprint

    Manipulators
    Motion control
    Robots
    Experiments

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Morita, T., & Sugano, S. (1997). Development of an anthropomorphic force-controlled manipulator WAM-10. In International Conference on Advanced Robotics, Proceedings, ICAR (pp. 701-706). Piscataway, NJ, United States: IEEE.

    Development of an anthropomorphic force-controlled manipulator WAM-10. / Morita, Toshio; Sugano, Shigeki.

    International Conference on Advanced Robotics, Proceedings, ICAR. Piscataway, NJ, United States : IEEE, 1997. p. 701-706.

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

    Morita, T & Sugano, S 1997, Development of an anthropomorphic force-controlled manipulator WAM-10. in International Conference on Advanced Robotics, Proceedings, ICAR. IEEE, Piscataway, NJ, United States, pp. 701-706, Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97, Monterey, CA, USA, 97/7/7.
    Morita T, Sugano S. Development of an anthropomorphic force-controlled manipulator WAM-10. In International Conference on Advanced Robotics, Proceedings, ICAR. Piscataway, NJ, United States: IEEE. 1997. p. 701-706
    Morita, Toshio ; Sugano, Shigeki. / Development of an anthropomorphic force-controlled manipulator WAM-10. International Conference on Advanced Robotics, Proceedings, ICAR. Piscataway, NJ, United States : IEEE, 1997. pp. 701-706
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