Nothing Special   »   [go: up one dir, main page]

Skip to main content

Dexterous manipulations of humanoid Robot Saika

  • Chapter 1 Dexterous Manipulation
  • Conference paper
  • First Online:
Experimental Robotics V

Abstract

This article addresses the development of a humanoid robot named Saika and skillful manipulations performed by Saika. The developed humanoid robot Saika has a two-DOF neck, dual five-DOF upper arms, a torso and a head which consists of two eyes and two ears. Saika has humansize dimension and weighs eight kilograms. This article also presents three kinds of manipulations performed by Saika: (1) hitting a bounding ball, (2) grasping unknown objects by groping and (3) catching a thrown ball. Those tasks are chosen to study behavior-based movement control and intelligence.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Kato I 1973 Development of WABOT-1. Biomechanism 2. The University of Tokyo Press, Tokyo pp 173–214 (In Japanese)

    Google Scholar 

  2. Kato I, Ohteru S, Shirai K, Narita S 1985 A Robot Musician “WABOT-2” (WAseda roBOT-2). Journal of the Robotic Society of Japan. 3(4):337–338 (In Japanese).

    Google Scholar 

  3. Brooks R A, Stein L A 1994 Building Brains for Bodies. Autonomous Robots. 1:7–25

    Article  Google Scholar 

  4. Brooks R A 1996 Prospects for Human Level Intelligence for Humanoid Robots. Proc. of the First Int. Symp. on HUmanoid RObots (HURO’ 96). pp 17–24

    Google Scholar 

  5. Hollerbach J M, Jacobsen S C Anthropomorphic Robots and Human Interactions. Proc. of the First Int. Symp. on HUmanoid RObots (HURO’ 96). pp 83–91

    Google Scholar 

  6. Furukawa R 1997 Study on learning of a robot arm's movement based on visual information. Graduation Thesis, University of Tokyo

    Google Scholar 

  7. Tada M 1997 Study on the grasping unknown objects using multi-fingered robot hand. Graduation Thesis, University of Tokyo

    Google Scholar 

  8. Nishiwaki K 1997 Study on the catch a ball behavior using a humanoid. Graduation Thesis, University of Tokyo

    Google Scholar 

  9. http://mozu.mes.titech.ac.jp/research/TitechRobotDriver/TitechRobotDriver.html

    Google Scholar 

  10. Inoue H, Inaba M, Mori T, Tachikawa T 1993 Real-time robot vision system based on correlation technology. Proc. of Int. Symp. on Industrial Robots (ISIR’ 93). pp 675–680

    Google Scholar 

  11. Oka T, Takeda K, Inaba M, Inoue H 1996 Disigning Asynchronous Parallel Process Networks for Desirable Autonomous Robot Behaviors. Proc. of the 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’ 96). pp 178–185

    Google Scholar 

  12. Nagashima K, Konno A, Inaba M, Inoue H 1997 Development of BeNet System for Multi-thread EusLisp and Transputer Network. Proc. of JSME Conf. on Robotics-Mechatronics (ROBOMECH’ 97)

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Alicia Casals Anibal T. de Almeida

Rights and permissions

Reprints and permissions

Copyright information

© 1998 Springer-Verlag London Limited

About this paper

Cite this paper

Konno, A. et al. (1998). Dexterous manipulations of humanoid Robot Saika . In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112952

Download citation

  • DOI: https://doi.org/10.1007/BFb0112952

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics