Robot arm surface covers for Physical Interference adapting motion

Hiroyasu Iwata, Hayato Hoshino, Yoshihito Adachi, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingChapter

    3 Citations (Scopus)

    Abstract

    This paper proposes robot arm surface covers developed to detect various information of Physical Interference (PIF) with human. First, PIF information for precisely recognizing PIF was specified. Next, humanoid arm surface covers for detecting the PIF information were designed and developed. Also, a method for not only behaving adaptively to human but also realizing task completeness is described. Finally, an evaluation experiment was carried out in a situation where a humanoid WENDY with the surface covers is holding a cup filled with contents. Various PIF forces are applied to the robot. The arm was controlled to absorb the PIF forces not to spill the contents. The result of the experiment shows that the task completeness is achieved as well as PIF adapting motions and the validity of the developed arm surface covers for PIF adaptation with human was confirmed.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages671-676
    Number of pages6
    Publication statusPublished - 1999
    EventProceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) - Atlanta, GA, USA
    Duration: 1999 Sep 191999 Sep 23

    Other

    OtherProceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99)
    CityAtlanta, GA, USA
    Period99/9/1999/9/23

    Fingerprint

    Robots
    Hazardous materials spills
    Experiments

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Iwata, H., Hoshino, H., Adachi, Y., & Sugano, S. (1999). Robot arm surface covers for Physical Interference adapting motion. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 671-676). Piscataway, NJ, United States: IEEE.

    Robot arm surface covers for Physical Interference adapting motion. / Iwata, Hiroyasu; Hoshino, Hayato; Adachi, Yoshihito; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Piscataway, NJ, United States : IEEE, 1999. p. 671-676.

    Research output: Chapter in Book/Report/Conference proceedingChapter

    Iwata, H, Hoshino, H, Adachi, Y & Sugano, S 1999, Robot arm surface covers for Physical Interference adapting motion. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, Piscataway, NJ, United States, pp. 671-676, Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99), Atlanta, GA, USA, 99/9/19.
    Iwata H, Hoshino H, Adachi Y, Sugano S. Robot arm surface covers for Physical Interference adapting motion. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Piscataway, NJ, United States: IEEE. 1999. p. 671-676
    Iwata, Hiroyasu ; Hoshino, Hayato ; Adachi, Yoshihito ; Sugano, Shigeki. / Robot arm surface covers for Physical Interference adapting motion. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Piscataway, NJ, United States : IEEE, 1999. pp. 671-676
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    abstract = "This paper proposes robot arm surface covers developed to detect various information of Physical Interference (PIF) with human. First, PIF information for precisely recognizing PIF was specified. Next, humanoid arm surface covers for detecting the PIF information were designed and developed. Also, a method for not only behaving adaptively to human but also realizing task completeness is described. Finally, an evaluation experiment was carried out in a situation where a humanoid WENDY with the surface covers is holding a cup filled with contents. Various PIF forces are applied to the robot. The arm was controlled to absorb the PIF forces not to spill the contents. The result of the experiment shows that the task completeness is achieved as well as PIF adapting motions and the validity of the developed arm surface covers for PIF adaptation with human was confirmed.",
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