TY - GEN
T1 - Design and control of mobile manipulation system for human symbiotic humanoid
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
AU - Morita, T.
AU - Shibuya, K.
AU - Sugano, S.
N1 - Funding Information:
This project has been supported by NED0 (New Energy and Industrial Technology Development Organization). The authors would like to thank for the cooperation.
Funding Information:
This study was conducted as a part of the Humanoid Project at the Advanced Research Institute for Science and Engineering (RISE,) Waseda University.
Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBOT.1998.677287
DO - 10.1109/ROBOT.1998.677287
M3 - Conference contribution
AN - SCOPUS:0031645791
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1315
EP - 1320
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 May 1998 through 20 May 1998
ER -