Development and Evaluation of a Human-interactive Robot Platform “RI-MAN”
Development and Evaluation of a Human-interactive Robot Platform “RI-MAN”
复制标题
人机交互机器人平台“RI-MAN”的开发与评估
DOI：
10.7210/jrsj.25.554
复制
发表时间：
2007
期刊：
影响因子：
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通讯作者：
S. Hosoe
中科院分区：
文献类型：
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作者：
T. Odashima;M. Onishi;K. Tahara;T. Mukai;S. Hirano;Zhiwei Luo;S. Hosoe
这项研究的最终目标是开发一种能够在家庭和/或医院的复杂环境中熟练、安全地执行护理等物理任务的机器人。为了实现这样的机器人，设计标准和方法应该不同于传统工业机器人。具体来说，考虑到机器人与人类之间的物理交互，除了机器人的高功率、速度和准确性之外，安全性、易用性和亲和力更为重要。为了实现这一目标，RIKEN BMC 开发了“RI-MAN”，它展示了柔软、安全地携带和握住玩偶的高能力。本文首先讨论了人机交互机器人的设计问题，提出了解决软体交互和全身交互等问题的原创关键技术和系统集成。然后介绍了 RI-MAN 的细节和基本性能以及一些实验结果。还指出了进一步的研究课题。
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.
全身动态动作执行和感知中不变特征的体现基础——滚动和上升的技巧和焦点
DOI：
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发表时间：
2004
期刊：
Robotics and Autonomous Systems vol.48,no.4
影响因子：
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作者：
Yasuo Koniyoshi;ea al.
通讯作者：
ea al.