Open AccessProceedings Article
The Humanoid Robot ARMAR: Design and Control
TLDR
This paper addresses the mechanism design methodologies, specification, and control strategies of a mobile manipulation system for the humanoid robot ARMAR, that has to work autonomously or interactively in cooperation with humans in dynamic unstructured environments such as workshops or homes.Abstract:
This paper addresses the mechanism design methodologies, specification, and control strategies of a mobile manipulation system for the humanoid robot ARMAR, that has to work autonomously or interactively in cooperation with humans in dynamic unstructured environments such as workshops or homes.read more
Citations
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Journal ArticleDOI
Cooperation of human and machines in assembly lines
TL;DR: In this article, a survey about forms of human-machine cooperation in assembly and available technologies that support the cooperation is presented, including organizational and economic aspects of cooperative assembly including efficient component supply and logistics.
Journal ArticleDOI
Elastic Strips: A Framework for Motion Generation in Human Environments
Oliver Brock,Oussama Khatib +1 more
TL;DR: The elastic strip framework presented in this paper enables the execution of a previously planned motion in a dynamic environment for robots with many degrees of freedom, and encompasses methods to suspend task behavior when its execution becomes inconsistent with other constraints imposed on the motion.
Proceedings ArticleDOI
Design of the TUAT/Karlsruhe humanoid hand
TL;DR: The mechanism and design of a new humanoid-type hand with human-like manipulation abilities is discussed and is designed for the humanoid robot ARMAR which has to work autonomously or interactively in cooperation with humans and for an artificial lightweight arm for handicapped persons.
Proceedings ArticleDOI
Programming by demonstration: dual-arm manipulation tasks for humanoid robots
TL;DR: A classification for dual-arm manipulations is introduced, enabling a segmentation of tasks into adequate subtasks, and it is shown how the generated programs are mapped on and executed by a humanoid robot.
Proceedings ArticleDOI
Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands
TL;DR: A framework for grasp planning with a humanoid robot arm and a five-fingered hand is presented, based on the use of an object model database that contains the description of all the objects that can appear in the robot workspace.
References
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Proceedings ArticleDOI
The development of Honda humanoid robot
TL;DR: Due to its unique posture stability control, the Honda humanoid robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces and to perform simple operations via wireless teleoperation.
Book ChapterDOI
The cog project: building a humanoid robot
Rodney A. Brooks,Cynthia Breazeal,Matthew Marjanović,Brian Scassellati,Matthew M. Williamson +4 more
TL;DR: This chapter gives a background on the methodology that the authors have used in investigations, highlights the research issues that have been raised during this project, and provides a summary of both the current state of the project and the long-term goals.
Proceedings ArticleDOI
Design of the TUAT/Karlsruhe humanoid hand
TL;DR: The mechanism and design of a new humanoid-type hand with human-like manipulation abilities is discussed and is designed for the humanoid robot ARMAR which has to work autonomously or interactively in cooperation with humans and for an artificial lightweight arm for handicapped persons.
Journal ArticleDOI
Humanoid Robots in Waseda University—Hadaly-2 and WABIAN
S. Hashimoto,S. Narita,Hironori Kasahara,K. Shirai,Tetsunori Kobayashi,A. Takanishi,Shigeki Sugano,J. Yamaguchi,H. Sawada,Hideaki Takanobu,Koji Shibuya,T. Morita,T. Kurata,N. Onoe,K. Ouchi,T. Noguchi,Y. Niwa,S. Nagayama,H. Tabayashi,I. Matsui,M. Obata,H. Matsuzaki,A. Murasugi,S. Haruyama,T. Okada,Y. Hidaki,Y. Taguchi,Keiichiro Hoashi,E. Morikawa,Y. Iwano,D. Araki,Junichi Suzuki,M. Yokoyama,I. Dawa,D. Nishino,S. Inoue,T. Hirano,E. Soga,S. Gen,T. Yanada,K. Kato,S. Sakamoto,Y. Ishii,S. Matsuo,Y. Yamamoto,K. Sato,T. Hagiwara,T. Ueda,N. Honda,Kenji Hashimoto,T. Hanamoto,S. Kayaba,T. Kojima,Hiroyasu Iwata,H. Kubodera,R. Matsuki,T. Nakajima,K. Nitto,Daisuke Yamamoto,Y. Kamizaki,S. Nagaike,Y. Kunitake,S. Morita +62 more
TL;DR: WABIAN is a robot with a complete human configuration that is capable of walking on two legs and carrying things as with humans and has functions for information interactions suite for uses at home.