Development and evaluation of seven-D.O.F. MIA ARM

Toshio Morita*, Shigeki Sugano


研究成果: Conference article査読

61 被引用数 (Scopus)


This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks, because each joint can realize safety motion. This paper presents a development of the anthropomorphic manipulator (seven-D.O.F. MIA ARM) which consists of shoulder, elbow, and wrist. This paper also describes a dynamic model of multiple-D.O.F. MIA and an experimental evaluation of the seven-D.O.F. MIA ARM by means of trajectory control. The experimental results show that the seven-D.O.F. MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版ステータスPublished - 1997
イベントProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
継続期間: 1997 4月 201997 4月 25

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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