Development of an anthropomorphic force-controlled manipulator WAM-10

Toshio Morita*, Shigeki Sugano

*この研究の対応する著者

研究成果: Paper査読

24 被引用数 (Scopus)

抄録

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.

本文言語English
ページ701-706
ページ数6
出版ステータスPublished - 1997 1 1
イベントProceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97 - Monterey, CA, USA
継続期間: 1997 7 71997 7 9

Other

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

ASJC Scopus subject areas

  • 工学(全般)

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