Romansy 14 pp 537-547 | Cite as

Human Symbiotic Humanoid Robot with Whole-body Compliance

  • Hiroyasu Iwata
  • Toshio Morita
  • Shigeki Sugano
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


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.


Viscoelastic Material Humanoid Robot Force Magnitude Mechanical Compliance Impulsive Force 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Hiroyasu Iwata
    • 1
  • Toshio Morita
    • 1
  • Shigeki Sugano
    • 1
  1. 1.Department of Mechanical EngineeringWaseda UniversityTokyoJapan

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