Design and control of 9-DOFs emotion expression humanoid arm

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

*この研究の対応する著者

研究成果: Conference article査読

21 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)128-133
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2004
1
出版ステータスPublished - 2004 7 5
イベントProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
継続期間: 2004 4 262004 5 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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