Pub Date : 2002-12-10DOI: 10.1109/ROMAN.2002.1045646
M. Hashimoto, T. Hattori, M. Horiuchi, T. Kamata
Joint torque sensing is important for interactive robots, since the robot interacts with humans and the environment by not only the end effector but also the whole body. We have proposed a practical torque sensing technique which utilizes the flexible part of an harmonic drive gear. The sensing technique provides joint torque sensing without reducing the stiffness of the robot or changing the mechanical structure of the joints. Thus, the torque sensing technique is applicable to joint torque sensing for interactive robots. We developed a 7 DOF anthropomorphic robot arm with harmonic drive gearing built-in joint torque sensors. By using the torque sensing technique we realized an anthropomorphic robot arm with dimensions almost the same as those of the human arm. In this paper, we describe the design and prototyping of the robot arm and the evaluation of the effectiveness of the joint torque sensing technique.
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Pub Date : 2002-09-25DOI: 10.1109/ROMAN.2002.1045678
I. Lafoz, A. Mora, D. Rodríguez-Losada, M. Hernando, A. Barrientos
A novel application of a life-like robot is presented in this paper. The "Robotaurus", a vision controlled bull-like robotic creature has been built. It has been tested in an educational contest based on the bullfighting, a typical Spanish spectacle. Several problems of different research fields have been solved for the whole system development. The interaction capabilities obtained through a behavior control architecture have been proved with the "ole!" cheering of the audience.
{"title":"Behavior control architecture for a life-like creature: \"The Robotaurus\"","authors":"I. Lafoz, A. Mora, D. Rodríguez-Losada, M. Hernando, A. Barrientos","doi":"10.1109/ROMAN.2002.1045678","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045678","url":null,"abstract":"A novel application of a life-like robot is presented in this paper. The \"Robotaurus\", a vision controlled bull-like robotic creature has been built. It has been tested in an educational contest based on the bullfighting, a typical Spanish spectacle. Several problems of different research fields have been solved for the whole system development. The interaction capabilities obtained through a behavior control architecture have been proved with the \"ole!\" cheering of the audience.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125034392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2002-09-25DOI: 10.1109/ROMAN.2002.1045632
M. Doi, Kenji Suzuki, S. Hashimoto
A communicative robot "BUGNOID" that integrates various sensory data and behavior modules is introduced with some experimental results. For the achievement Of flexible communication with humans, the robot has multimodal interface holding diverse channels of communication. Moreover, the robot can recognize the environment taking a human's behavior into account in order to co-exist with them.
{"title":"Integrated communicative robot \"BUGNOID\"","authors":"M. Doi, Kenji Suzuki, S. Hashimoto","doi":"10.1109/ROMAN.2002.1045632","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045632","url":null,"abstract":"A communicative robot \"BUGNOID\" that integrates various sensory data and behavior modules is introduced with some experimental results. For the achievement Of flexible communication with humans, the robot has multimodal interface holding diverse channels of communication. Moreover, the robot can recognize the environment taking a human's behavior into account in order to co-exist with them.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121045148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2002-09-25DOI: 10.1109/ROMAN.2002.1045679
A. Nakayama, T. Machino, I. Kitagishi, S. Iwaki, M. Okudaira
To realize rich interactive communication, the concept of "Audio-MotionMedia" is proposed in this paper. This concept is based on the idea that robot control signals are embedded in an audio stream. In this concept, the audio signals play a role of a carrier to convey control signal. Two implementation methods of Audio-MotionMedia and two desktop type Audio-Motion communication robot systems are developed. These robot systems are applied to conventional communication media such as the World Wide Web and E-mail to realize enriched communication services. These services have been evaluated and favorably received.
{"title":"Rich communication with audio-controlled network robot. Proposal of \"Audio-MotionMedia\"","authors":"A. Nakayama, T. Machino, I. Kitagishi, S. Iwaki, M. Okudaira","doi":"10.1109/ROMAN.2002.1045679","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045679","url":null,"abstract":"To realize rich interactive communication, the concept of \"Audio-MotionMedia\" is proposed in this paper. This concept is based on the idea that robot control signals are embedded in an audio stream. In this concept, the audio signals play a role of a carrier to convey control signal. Two implementation methods of Audio-MotionMedia and two desktop type Audio-Motion communication robot systems are developed. These robot systems are applied to conventional communication media such as the World Wide Web and E-mail to realize enriched communication services. These services have been evaluated and favorably received.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133304074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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