Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1
Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1
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DOI：
10.1109/iros.2004.1389363
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发表时间：
2004-09
期刊：
影响因子：
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通讯作者：
S. Roccella;M. Carrozza;G. Cappiello;P. Dario;J. Cabibihan;M. Zecca;H. Miwa;K. Itoh;M. Matsumoto
中科院分区：
文献类型：
--
作者：
S. Roccella;M. Carrozza;G. Cappiello;P. Dario;J. Cabibihan;M. Zecca;H. Miwa;K. Itoh;M. Matsumoto
在社会基础设施技术中，机器人技术（RT）有望在21世纪解决出生率下降和老年人增加的问题上发挥重要作用，特别是但不仅限于日本。为了实现这一目标，新一代的个人机器人应该能够通过表达人类的情感与人类进行自然的交流。从这个意义上说，人类的手在交流中起着至关重要的作用，因为它们具有抓握、感知和情感表达能力。本文介绍了日本东京早稻田大学Takanishi实验室、意大利比萨圣安娜高等学校艺术实验室和ROBOCASA合作的最新成果。本文介绍了一种用于类人机器人RCH-1 （ROBOCASA hand No.1）的新型拟人化手的开发，并将其集成到一个名为WE-4RII （Waseda Eye No.4 Refined II）的类人机器人平台中。
Among social infrastructure technologies, robot technology (RT) is expected to play an important role in solving the problems of both decrease of birth rate and increase of elderly people in the 21st century, specially but not only in Japan. In order to achieve this objective, the new generation of personal robots should be capable of a natural communication with humans by expressing human-like emotion. In this sense, human hands play a fundamental role in communication, because they have grasping, sensing and emotional expression ability. This paper presents the recent results of the collaboration between the Takanishi Lab of Waseda University, Tokyo, Japan, and the Arts Lab of Scuola Superiore Sant'Anna, Pisa, Italy, and ROBOCASA. In this paper, the development of a novel anthropomorphic hand for humanoid robotics RCH-1 (ROBOCASA Hand No.1) and its integration into a humanoid robotic platform, named WE-4RII (Waseda Eye No.4 Refined II) is presented.