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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|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 26 → 2004 5 1
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