Cooperative works by a human and a humanoid robot
Cooperative works by a human and a humanoid robot
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人类与仿人机器人的合作作品
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
H. Hirukawa
中科院分区：
文献类型：
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作者：
K. Yokoyama;H. Handa;T. Isozumi;Y. Fukase;K. Kaneko;F. Kanehiro;Y. Kawai;F. Tomita;H. Hirukawa
为了实现人与仿人机器人的协同工作，我们研制了一台HRP-2 P型仿人机器人，该机器人具有自主运动控制器、立体视觉软件和听觉人机接口。机器人通过视觉找到目标物体，并根据人类的语音指令，通过往复运动与人类协同搬运。在机器人搬运物体的同时，对机器人的手臂进行协同控制，通过手腕上的力/力矩传感器，利用相互作用的力和力矩控制机器人的行走方向。文中给出了实验结果。
We have developed a humanoid robot HRP-2P with a biped locomotion controller, stereo vision software and aural human interface to realize cooperative works by a human and a humanoid robot. The robot can find a target object by the vision, and carry it cooperatively with a human by biped locomotion according to the voice commands by the human. A cooperative control is applied to the arms of the robot while it carries the object, and the walking direction of the robot is controlled by the interactive force and torque through the force/torque sensor on the wrists. The experimental results are presented in the paper.