TY - JOUR
T1 - Human symbiotic robot design based on division and unification of functional requirements
AU - Morita, Toshio
AU - Iwata, Hiroyasu
AU - Sugano, Shigeki
PY - 2000/12/3
Y1 - 2000/12/3
N2 - This study aims to develop human symbiotic robots, which have the abilities of carrying out physical, informational, and psychological interaction, and support daily work in human's living space. In this paper, we mainly discuss about two essential design requirements for realizing human-robot symbiosis, such as safety and dexterity. First, through the development of human symbiotic robot WENDY (Waseda ENgineering Designed sYmbiont), mechanical design method is proposed. Next, the effectiveness of the method is evaluated by several basic experiments, such as object grasping by using visual information, impact safety motion, and pressure control on fingertip. Finally, total performances of WENDY are also exhibited from several experiments that require high level integration of whole body mechanisms.
AB - This study aims to develop human symbiotic robots, which have the abilities of carrying out physical, informational, and psychological interaction, and support daily work in human's living space. In this paper, we mainly discuss about two essential design requirements for realizing human-robot symbiosis, such as safety and dexterity. First, through the development of human symbiotic robot WENDY (Waseda ENgineering Designed sYmbiont), mechanical design method is proposed. Next, the effectiveness of the method is evaluated by several basic experiments, such as object grasping by using visual information, impact safety motion, and pressure control on fingertip. Finally, total performances of WENDY are also exhibited from several experiments that require high level integration of whole body mechanisms.
UR - http://www.scopus.com/inward/record.url?scp=0033691399&partnerID=8YFLogxK
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M3 - Conference article
AN - SCOPUS:0033691399
VL - 3
SP - 2229
EP - 2234
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
T2 - ICRA 2000: IEEE International Conference on Robotics and Automation
Y2 - 24 April 2000 through 28 April 2000
ER -