Abstract
In this paper, we propose a design method of human-symbiotic humanoid robots with whole-body compliance composed of mechanical and controlled compliance, for securing a wide range of dynamic responsiveness to various types of physical interference with humans. First, a design idea of mechanical compliance for realizing quick reduction of impulsive force is described, incorporating softly deformable materials attached on the body surface and passively compliant joints equipped with a mechanical spring inside. Next, we propose a cover sensor that detects accurate external force vectors on the entire body surface, in order to generate whole-body compliant motions based on the tactile and force information detected. Finally, evaluation experiments of physical interference between humans and an actual anthropomorphic robot are presented to verify the effectiveness of the respective compliance. The results confirm that two measures for securing whole-body compliance faculty realize both quick and slow responsiveness to physical interference with humans and that the proposed method is useful for enhancement of human-robot coordination.
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Iwata, H., Morita, T., Sugano, S. (2002). Human Symbiotic Humanoid Robot with Whole-body Compliance. In: Bianchi, G., Guinot, JC., Rzymkowski, C. (eds) Romansy 14. International Centre for Mechanical Sciences, vol 438. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2552-6_56
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DOI: https://doi.org/10.1007/978-3-7091-2552-6_56
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