Development and Evaluation of a Human-interactive Robot Platform "RI-MAN"

DOI Web Site 22 Citations
  • Odashima Tadashi
    Bio-mimetic Control Research Center, RIKEN
  • Onishi Masaki
    Bio-mimetic Control Research Center, RIKEN Information Technology Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)
  • Tahara Kenji
    Bio-mimetic Control Research Center, RIKEN
  • Mukai Toshiharu
    Bio-mimetic Control Research Center, RIKEN
  • Hirano Shinya
    Bio-mimetic Control Research Center, RIKEN
  • Luo Zhi Wei
    Bio-mimetic Control Research Center, RIKEN Faculty of Engineering, Kobe University
  • Hosoe Shigeyuki
    Bio-mimetic Control Research Center, RIKEN

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Other Title
  • 抱え上げ動作による移乗作業を目的とした介護支援ロボット研究用プラットフォーム”ＲＩ‐ＭＡＮ”の開発と評価
  • カカエアゲ ドウサ ニ ヨル イジョウ サギョウ オ モクテキ ト シタ カイゴ シエン ロボット ケンキュウヨウ プラットフォーム RI MAN ノ カイハツ ト ヒョウカ

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Abstract

The ultimate goal of this research is to develop a robot that is able to perform physical tasks such as nursing care skillfully and safely in complex environment of our home and/or hospitals. In order to realize such a robot, the design criteria and approach should be different from that of traditional industrial robots. Specifically, considering the physical interactions between the robot and human subjects, the safety, ease and affinity are more important in addition to the robot's high power, speed and accuracy. Towards this objective, “RI-MAN” is developed in RIKEN BMC which demonstrated the high ability to carry up and hold a doll softly and safely. This paper first discusses the problems on the design of a human-interactive robot, and proposes original key technologies and system integration to solve the problems including the soft and whole body interaction. The details and basic performance of RI-MAN are then introduced together with some experimental results. The further research subjects are also pointed.

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