Toward third-arm robots-humanoid robotic arm for cooperation between humans and robots

Wada, Mitsuo; Mikami, Sadayoshi

doi:10.1163/156855397x00074

Cited by 2 publications

(1 citation statement)

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“…Indeed, such a methodology for multi-robot systems will prove to be beneficial in the area of humanoid robotics (Brooks 1997;Seward et al 1996;Hirai 1999), especially for imitation learning (Schaal 1999;Osuka 1998). Other potential application areas are muscle control (Micera et al 1999b), human-robot interaction (Wada and Mikami 1998;Fasse et al 2000) and coordination in the human system (Grossberg et al 1997;Farrar and Zipser 1999;Staude et al 2000).…”

Section: Introductionmentioning

confidence: 99%

A human motor control perspective to multiple manipulator modelling

Kambhampati

Rajasekharan

2003

Biological Cybernetics

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This paper describes the aspects involved in modelling a multi-robot system from a human motor control perspective. The human motor control system has a hierarchical and decentralised structure, and building a control system for a multi-robot system that attains human features would require a decomposable model. Decomposition of a complex robotic system is difficult due to the interactions between the subsystems, so these have to be first separated before the system is modelled. The proposed method of separating the interconnections is applied with the aid of fuzzy modelling to derive a fully decomposable model of two manipulator robots handling a common object.

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Section: Introductionmentioning

confidence: 99%

A human motor control perspective to multiple manipulator modelling

Kambhampati

Rajasekharan

2003

Biological Cybernetics

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Humanoids and personal robots: Design and experiments

2001

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This paper addresses the field of humanoid and personal robotics—its objectives, motivations, and technical problems. The approach described in the paper is based on the analysis of humanoid and personal robots as an evolution from industrial to advanced and service robotics driven by the need for helpful machines, as well as a synthesis of the dream of replicating humans. The first part of the paper describes the development of anthropomorphic components for humanoid robots, with particular regard to anthropomorphic sensors for vision and touch, an eight‐d.o.f. arm, a three‐fingered hand with sensorized fingertips, and control schemes for grasping. Then, the authors propose a user‐oriented design methodology for personal robots, and describe their experience in the design, development, and validation of a real personal robot composed of a mobile unit integrating some of the anthropomorphic components introduced previously and aimed at operating in a distributed working environment. Based on the analysis of experimental results, the authors conclude that humanoid robotics is a tremendous and attractive technical and scientific challenge for robotics research. The real utility of humanoids has still to be demonstrated, but personal assistance can be envisaged as a promising application domain. Personal robotics also poses difficult technical problems, especially related to the need for achieving adequate safety, proper human–robot interaction, useful performance, and affordable cost. When these problems are solved, personal robots will have an excellent chance for significant application opportunities, especially if integrated into future home automation systems, and if supported by the availability of humanoid robots. © 2001 John Wiley & Sons, Inc.

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Toward third-arm robots-humanoid robotic arm for cooperation between humans and robots

Cited by 2 publications

References 3 publications

A human motor control perspective to multiple manipulator modelling

A human motor control perspective to multiple manipulator modelling

Humanoids and personal robots: Design and experiments

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