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

T. Morita, K. Shibuya, S. Sugano

研究成果: Conference contribution

36 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1315-1320
ページ数6
ISBN(印刷版)078034300X
DOI
出版ステータスPublished - 1998
外部発表はい
イベント15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
継続期間: 1998 5 161998 5 20

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2
ISSN(印刷版)1050-4729

Conference

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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