Development of an anthropomorphic force-controlled manipulator WAM-10

Toshio Morita, Shigeki Sugano

Research output: Contribution to conferencePaper

23 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages701-706
Number of pages6
Publication statusPublished - 1997 Jan 1
Externally publishedYes
EventProceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97 - Monterey, CA, USA
Duration: 1997 Jul 71997 Jul 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

  • Engineering(all)

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  • Cite this

    Morita, T., & Sugano, S. (1997). Development of an anthropomorphic force-controlled manipulator WAM-10. 701-706. Paper presented at Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97, Monterey, CA, USA, .