Anthropomorphic Muscular–Skeletal Robotic Upper Limb for Understanding Embodied Intelligence

DOI Web Site 被引用文献6件
  • Koh Hosoda
    a Department of Multimedia Engineering, Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, Osaka 565-0871, Japan;, Email: koh.hosoda@ist.osaka-u.ac.jp
  • Shunsuke Sekimoto
    b Department of Multimedia Engineering, Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, Osaka 565-0871, Japan
  • Yoichi Nishigori
    c Department of Multimedia Engineering, Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, Osaka 565-0871, Japan
  • Shinya Takamuku
    d Department of Multimedia Engineering, Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, Osaka 565-0871, Japan
  • Shuhei Ikemoto
    e Department of Multimedia Engineering, Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, Osaka 565-0871, Japan

書誌事項

公開日
2012-01
DOI
  • 10.1163/156855312x625371
公開者
Informa UK Limited

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説明

In this paper, we describe an anthropomorphic muscular–skeletal robotic upper limb and focus on its soft interaction with the environment. Two experiments are conducted to demonstrate the ability of the system: object recognition by dynamic touch and adaptive door opening. The first experiment shows that the compliant robot is advantageous for categorizing an object by shaking and the second experiment shows that the human-comparable compliant robot can open a door without precise control. The robot is expected to have comparable anisotropic compliance to that of a human, which can be utilized for realization of human-like adaptive behavior.

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