Design and control of 9-DOFs emotion expression humanoid arm
Design and control of 9-DOFs emotion expression humanoid arm
复制标题
九自由度情感表达人形手臂的设计与控制
DOI：
10.1109/robot.2004.1307140
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
--
作者：
H. Miwa;K. Itoh;D. Ito;H. Takanobu;A. Takanishi
作者一直在开发人形机器人，以便为人形机器人开发新的机制和功能，使其能够通过表达类似人类的情感与人类自然地交流。我们认为，人的武器发挥着重要作用。2003年，开发出9自由度的情感表达类人手臂。之后，将新的手臂集成到类人头部机器人WE-4中，开发出情感表达类人机器人WE-4 R（Waseda Eye No.4 Refined）。此外，我们引入了新的控制算法的机器人手臂冗余自由度WE-4 R。新的控制算法通过几何约束和机器人情感的结合来描述。描述了9自由度情感表达仿人手臂的机械设计和控制算法。
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.