Force detectable surface covers for humanoid robots

Hiroyasu Iwata, H. Hoshino, T. Morita, Shigeki Sugano

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

    21 Citations (Scopus)

    Abstract

    In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. The covers can detect various tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First, a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed. Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is accomplished. In addition, from an application experiment, where some humans actually occur physical interference with an actual humanoid robot overlaid with the covers, it was confirmed that the capability of the covers' sensing even several contacts on several parts of robots' body is effective for realizing high level human-robot symbiosis.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Pages1205-1210
    Number of pages6
    Volume2
    Publication statusPublished - 2001
    Event2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como
    Duration: 2001 Jul 82001 Jul 12

    Other

    Other2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings
    CityComo
    Period01/7/801/7/12

    Fingerprint

    Robots
    Sensors
    Torque
    Experiments

    Keywords

    • Force detectable surface covers
    • Human symbiotic robots
    • Human-robot interface
    • Physical interference

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Iwata, H., Hoshino, H., Morita, T., & Sugano, S. (2001). Force detectable surface covers for humanoid robots. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 1205-1210)

    Force detectable surface covers for humanoid robots. / Iwata, Hiroyasu; Hoshino, H.; Morita, T.; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2001. p. 1205-1210.

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

    Iwata, H, Hoshino, H, Morita, T & Sugano, S 2001, Force detectable surface covers for humanoid robots. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2, pp. 1205-1210, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Como, 01/7/8.
    Iwata H, Hoshino H, Morita T, Sugano S. Force detectable surface covers for humanoid robots. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2. 2001. p. 1205-1210
    Iwata, Hiroyasu ; Hoshino, H. ; Morita, T. ; Sugano, Shigeki. / Force detectable surface covers for humanoid robots. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2001. pp. 1205-1210
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