Hand-shaped force interface for human-cooperative mobile robot
Identifieur interne :
001372 ( PascalFrancis/Corpus );
précédent :
001371;
suivant :
001373
Hand-shaped force interface for human-cooperative mobile robot
Auteurs : Riku Hikiji ;
Shuji HashimotoSource :
-
Lecture notes in computer science [ 0302-9743 ] ; 2001.
RBID : Pascal:01-0357448
Descripteurs français
English descriptors
Abstract
Aiming at realization of direct and intuitive cooperation between human and robot, we develop an interface system for a mobile robot that can take physical communication with its user via hand-to-hand force interaction. The hand-shaped device equipped on the robot with a flexible rubber-made arm can sense the intentional force exerted by its user. The finger part can be actuated in 1 DOF to achieve haptic force feedback. The robot also has bumper sensors and ultrasonic sensors around the body. The balance of the intentional force and the environmental condition determines the robot's motion. In this research, we design simple algorithms for both human-following and human-leading motions, and devise experiments with human users. Qualitative and quantitative evaluations of the experimental results are also presented.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
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| A01 | 01 | 1 | | @0 0302-9743 |
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| A05 | | | | @2 2058 |
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| A08 | 01 | 1 | ENG | @1 Hand-shaped force interface for human-cooperative mobile robot |
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| A09 | 01 | 1 | ENG | @1 Haptic human-computer interaction : Glasgow, 31 August - 1 September 2000 |
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| A11 | 01 | 1 | | @1 HIKIJI (Riku) |
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| A11 | 02 | 1 | | @1 HASHIMOTO (Shuji) |
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| A12 | 01 | 1 | | @1 BREWSTER (Stephen) @9 ed. |
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| A12 | 02 | 1 | | @1 MURRAY-SMITH (Roderick) @9 ed. |
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| A14 | 01 | | | @1 Humanoid Research Institute, Waseda University 3-4-1 Okubo @2 Shinjuku-ku, Tokyo 169-8555 @3 JPN @Z 1 aut. @Z 2 aut. |
|---|
| A20 | | | | @1 76-87 |
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| A21 | | | | @1 2001 |
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| A23 | 01 | | | @0 ENG |
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| A26 | 01 | | | @0 3-540-42356-7 |
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| A43 | 01 | | | @1 INIST @2 16343 @5 354000092488660090 |
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| A44 | | | | @0 0000 @1 © 2001 INIST-CNRS. All rights reserved. |
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| A45 | | | | @0 9 ref. |
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| A47 | 01 | 1 | | @0 01-0357448 |
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| A60 | | | | @1 P @2 C |
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| A61 | | | | @0 A |
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| A64 | 01 | 1 | | @0 Lecture notes in computer science |
|---|
| A66 | 01 | | | @0 DEU |
|---|
| C01 | 01 | | ENG | @0 Aiming at realization of direct and intuitive cooperation between human and robot, we develop an interface system for a mobile robot that can take physical communication with its user via hand-to-hand force interaction. The hand-shaped device equipped on the robot with a flexible rubber-made arm can sense the intentional force exerted by its user. The finger part can be actuated in 1 DOF to achieve haptic force feedback. The robot also has bumper sensors and ultrasonic sensors around the body. The balance of the intentional force and the environmental condition determines the robot's motion. In this research, we design simple algorithms for both human-following and human-leading motions, and devise experiments with human users. Qualitative and quantitative evaluations of the experimental results are also presented. |
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| C02 | 02 | X | | @0 001D02D11 |
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| C03 | 01 | X | FRE | @0 Robotique @5 01 |
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| C03 | 01 | X | ENG | @0 Robotics @5 01 |
|---|
| C03 | 01 | X | SPA | @0 Robótica @5 01 |
|---|
| C03 | 02 | X | FRE | @0 Téléopération @5 02 |
|---|
| C03 | 02 | X | ENG | @0 Remote operation @5 02 |
|---|
| C03 | 02 | X | SPA | @0 Teleacción @5 02 |
|---|
| C03 | 03 | X | FRE | @0 Robot mobile @5 03 |
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| C03 | 03 | X | ENG | @0 Moving robot @5 03 |
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| C03 | 03 | X | SPA | @0 Robot móvil @5 03 |
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| C03 | 04 | X | FRE | @0 Interface utilisateur @5 04 |
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| C03 | 04 | X | ENG | @0 User interface @5 04 |
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| C03 | 04 | X | SPA | @0 Interfase usuario @5 04 |
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| C03 | 05 | X | FRE | @0 Système homme machine @5 05 |
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| C03 | 05 | X | ENG | @0 Man machine system @5 05 |
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| C03 | 05 | X | SPA | @0 Sistema hombre máquina @5 05 |
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| C03 | 06 | X | FRE | @0 Sensibilité tactile @5 07 |
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| C03 | 06 | X | ENG | @0 Tactile sensitivity @5 07 |
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| C03 | 06 | X | SPA | @0 Sensibilidad tactil @5 07 |
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| C03 | 07 | X | FRE | @0 Boucle réaction @5 08 |
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| C03 | 07 | X | ENG | @0 Feedback @5 08 |
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| C03 | 07 | X | SPA | @0 Retroalimentación @5 08 |
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| N21 | | | | @1 253 |
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| pR |
| A30 | 01 | 1 | ENG | @1 Haptic human-computer interactions. International workshop @2 1 @3 Glasgow GBR @4 2000-08-31 |
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Format Inist (serveur)
| NO : | PASCAL 01-0357448 INIST |
|---|
| ET : | Hand-shaped force interface for human-cooperative mobile robot |
|---|
| AU : | HIKIJI (Riku); HASHIMOTO (Shuji); BREWSTER (Stephen); MURRAY-SMITH (Roderick) |
|---|
| AF : | Humanoid Research Institute, Waseda University 3-4-1 Okubo/Shinjuku-ku, Tokyo 169-8555/Japon (1 aut., 2 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | Lecture notes in computer science; ISSN 0302-9743; Allemagne; Da. 2001; Vol. 2058; Pp. 76-87; Bibl. 9 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | Aiming at realization of direct and intuitive cooperation between human and robot, we develop an interface system for a mobile robot that can take physical communication with its user via hand-to-hand force interaction. The hand-shaped device equipped on the robot with a flexible rubber-made arm can sense the intentional force exerted by its user. The finger part can be actuated in 1 DOF to achieve haptic force feedback. The robot also has bumper sensors and ultrasonic sensors around the body. The balance of the intentional force and the environmental condition determines the robot's motion. In this research, we design simple algorithms for both human-following and human-leading motions, and devise experiments with human users. Qualitative and quantitative evaluations of the experimental results are also presented. |
|---|
| CC : | 001D02B04; 001D02D11 |
|---|
| FD : | Robotique; Téléopération; Robot mobile; Interface utilisateur; Système homme machine; Sensibilité tactile; Boucle réaction |
|---|
| ED : | Robotics; Remote operation; Moving robot; User interface; Man machine system; Tactile sensitivity; Feedback |
|---|
| SD : | Robótica; Teleacción; Robot móvil; Interfase usuario; Sistema hombre máquina; Sensibilidad tactil; Retroalimentación |
|---|
| LO : | INIST-16343.354000092488660090 |
|---|
| ID : | 01-0357448 |
|---|
Links to Exploration step
Pascal:01-0357448
Le document en format XML
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<EA>Aiming at realization of direct and intuitive cooperation between human and robot, we develop an interface system for a mobile robot that can take physical communication with its user via hand-to-hand force interaction. The hand-shaped device equipped on the robot with a flexible rubber-made arm can sense the intentional force exerted by its user. The finger part can be actuated in 1 DOF to achieve haptic force feedback. The robot also has bumper sensors and ultrasonic sensors around the body. The balance of the intentional force and the environmental condition determines the robot's motion. In this research, we design simple algorithms for both human-following and human-leading motions, and devise experiments with human users. Qualitative and quantitative evaluations of the experimental results are also presented.</EA>
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