Development of an anthropomorphic force-controlled manipulator WAM-10

Toshio Morita, Shigeki Sugano

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

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
Title of host publicationInternational Conference on Advanced Robotics, Proceedings, ICAR
PublisherIEEE
Pages701-706
Number of pages6
Publication statusPublished - 1997
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

Fingerprint

Manipulators
Motion control
Robots
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Morita, T., & Sugano, S. (1997). Development of an anthropomorphic force-controlled manipulator WAM-10. In International Conference on Advanced Robotics, Proceedings, ICAR (pp. 701-706). IEEE.

Development of an anthropomorphic force-controlled manipulator WAM-10. / Morita, Toshio; Sugano, Shigeki.

International Conference on Advanced Robotics, Proceedings, ICAR. IEEE, 1997. p. 701-706.

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

Morita, T & Sugano, S 1997, Development of an anthropomorphic force-controlled manipulator WAM-10. in International Conference on Advanced Robotics, Proceedings, ICAR. IEEE, pp. 701-706, Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97, Monterey, CA, USA, 97/7/7.
Morita T, Sugano S. Development of an anthropomorphic force-controlled manipulator WAM-10. In International Conference on Advanced Robotics, Proceedings, ICAR. IEEE. 1997. p. 701-706
Morita, Toshio ; Sugano, Shigeki. / Development of an anthropomorphic force-controlled manipulator WAM-10. International Conference on Advanced Robotics, Proceedings, ICAR. IEEE, 1997. pp. 701-706
@inproceedings{eac79087e10e4a0990168659512c5ec9,
title = "Development of an anthropomorphic force-controlled manipulator WAM-10",
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.",
author = "Toshio Morita and Shigeki Sugano",
year = "1997",
language = "English",
pages = "701--706",
booktitle = "International Conference on Advanced Robotics, Proceedings, ICAR",
publisher = "IEEE",

}

TY - GEN

T1 - Development of an anthropomorphic force-controlled manipulator WAM-10

AU - Morita, Toshio

AU - Sugano, Shigeki

PY - 1997

Y1 - 1997

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0030654318&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030654318&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0030654318

SP - 701

EP - 706

BT - International Conference on Advanced Robotics, Proceedings, ICAR

PB - IEEE

ER -