Development of an anthropomorphic force-controlled manipulator WAM-10

Author

Morita, Toshio ; Sugano, Shigeki

Author_Institution

Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan

fYear

1997

fDate

7-9 Jul 1997

Firstpage

701

Lastpage

706

Abstract

This paper describes the development and evaluation of an anthropomorphic force-controlled manipulator WAM-10 (Waseda Automatic Manipulator-10). The manipulator consists of a seven degree-of-freedom (DOF) arm and a thirteen-DOF four-fingered hand. The goal of WAM-10 is the realization of human-robot symbiosis and collaboration for ensuring collision safety. The developed arm employs an original joint mechanism, called the mechanical impedance adjuster, which can realize ideal compliance and safety motion. The hand is designed with consideration of human interactive tasks. Results of the evaluation experiments show that the WAM-10 has the capability of realizing high performance in compliant motion control

Keywords

compliance control; control system synthesis; damping; force control; interactive systems; man-machine systems; manipulator kinematics; motion control; vibration control; WAM-10; Waseda Automatic Manipulator; anthropomorphic force-controlled manipulator; compliant motion control; damping; four-fingered hand; human interactive tasks; human-robot symbiosis; joint mechanism; mechanical impedance adjuster; passive impedance control; Anthropomorphism; Collaboration; Human robot interaction; Impedance; Manipulators; Safety; Service robots; Servomechanisms; Springs; Symbiosis;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620258

Filename

620258