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.
|出版ステータス||Published - 1997 1月 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月 7 → 1997 7月 9
|Other||Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97|
|City||Monterey, CA, USA|
|Period||97/7/7 → 97/7/9|
ASJC Scopus subject areas