Design and control of 9-DOFs emotion expression humanoid arm
説明
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 junction of geometric constraint and robot emotion. We describe the mechanical design and the control algorithm of 9-DOFs emotion expression humanoid arm.
収録刊行物
-
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
-
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 128-133 Vol.1, 2004-01-01
IEEE