Design and control of 9-DOFs emotion expression humanoid arm

• DOI: 10.1109/robot.2004.1307140
• Publication Date: 2004-11-13T00:14:14Z
• Authors: H. Miwa; K. Itoh; D. Ito; H. Takanobu; A. Takanishi
• Keywords: Expression (computer science); Social robot

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a robot that has the ability communicate naturally with human by expressing human-like emotion. We considered arms play an important role. And, 2003, we developed 9-DOFs emotion expression arm. Then, WE-4R (Waseda Eye No.4 Refined) integrating into head WE-4. Moreover, introduced control algorithm arm redundant DOF WE-4R. was described junction of geometric constraint describe mechanical design