Abstract
The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We considered that human arms play an important role. And, in 2003, we developed the 9-DOFs Emotion Expression Humanoid Arm. Then, we developed the Emotion Expression Humanoid Robot WE-4R (Waseda Eye No.4 Refined) by integrating the new arms into the Human-like head robot WE-4. Moreover, we introduced the new control algorithm for robot arm with redundant DOF into WE-4R. The new control algorithm was described by the function of geometric constraint and robot emotion. In this paper, we describe the mechanical design and the control algorithm of 9-DOFs Emotion Expression Humanoid Arm.
| Original language | English |
|---|---|
| Pages (from-to) | 128-133 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2004 |
| Issue number | 1 |
| Publication status | Published - 2004 Jul 5 |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 2004 Apr 26 → 2004 May 1 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering