Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2

T. Morita, K. Shibuya, S. Sugano

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

36 Citations (Scopus)

Abstract

The objective of this study is to investigate design and control strategies for realizing human-robot symbiosis, and to develop a human symbiotic humanoid robot, Hadaly-2, which can communicate and collaborate with human. In this paper, mechanism design methodologies, specifications, and control strategies of a mobile manipulation system of the Hadaly-2 will be described. First, mechanism design concepts of the manipulation system for the human symbiotic robot are proposed. Next, two force controlled anthropomorphic manipulators (WAM-10R, and L) and a body-vehicle mechanism are developed in consideration of the design concepts. Then, the communication and collaboration abilities of Hadaly-2 are evaluated by means of several behaviors, such as gesture motion, shaking hands with human, and block carrying tasks. From the results of evaluation experiments, it is confirmed that the Hadaly-2 can realize efficient interaction and collaboration with human.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1315-1320
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Externally publishedYes
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Morita, T., Shibuya, K., & Sugano, S. (1998). Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1315-1320). [677287] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677287