Surface Covers for Humanoid Robots
Surface Covers for Humanoid Robots
复制标题
人形机器人表面覆盖物
DOI：
--
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
--
作者：
H. Iwata;H. Hoshino;T. Morita;S. Sugano
Abdrucr--在本文中，我们描述了用于人形机器人的力可检测表面覆盖物，以实现与人类的自然物理交互。“覆盖物可以从机器人身体表面的广泛范围内检测各种触觉和力信息，例如精确的外力矢量和接触位置。首先，提出了由力-扭矩传感器和多个触摸传感器组成的基本表面覆盖结构。接下来，我们提出了一种设计方法来实现这样的覆盖结构到一个实际的人形机器人的双臂。最后，从基本的实验验证所提出的力可检测的表面覆盖系统的特性，它被证实，高的测量精度的接触位置和力矢量完成。此外，从一个应用实验，其中一些人实际上发生物理干扰与覆盖的实际人形机器人，它被证实，盖的能力，即使是几个接触的机器人的身体的几个部分的感知是有效的，为实现高水平的人机共生。
Abdrucr-- In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. ‘The covers can detect various tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First, a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed. Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is accomplished. In addition, from an application experiment, where some humans actually occur physical interference with an actual humanoid robot overlaid with the covers, it was confvmed that the capability of the covers’ sensing even several contacts on several parts of robots’ body is effective for realizing high level human-robot symbiosis.