Title :
Human symbiotic robot design based on division and unification of functional requirements
Author :
Morita, Toshio ; Iwata, Hiroyasu ; Sugano, Shigeki
Author_Institution :
Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
Abstract :
The study described aims to develop human symbiotic robots, which have the abilities of carrying out physical, informational, and psychological interaction, and support daily work in a human´s living space. We mainly discuss two essential design requirements for realizing human-robot symbiosis, such as safety and dexterity. First, through the development of human symbiotic robot WENDY (Waseda ENgineering Designed sYmbiont), a mechanical design method is proposed. Next, the effectiveness of the method is evaluated by several basic experiments, such as object grasping by using visual information, impact safety motion, and pressure control on the fingertip. Finally, performances of WENDY are also exhibited from several experiments that require high level integration of whole body mechanisms
Keywords :
dexterous manipulators; digital simulation; force control; man-machine systems; mobile robots; motion control; path planning; pressure control; robot vision; safety; WENDY; dexterity; fingertip; functional requirements; human symbiotic robot; impact safety motion; living space; mechanical design method; object grasping; visual information; whole body mechanisms; Design engineering; Design methodology; Employee welfare; Human robot interaction; Manipulators; Orbital robotics; Safety; Service robots; Shape; Symbiosis;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846359
