Biomimicing motion control of the WorkPartner robot-Reference-Cited by-同舟云学术

Biomimicing motion control of the WorkPartner robot

Published:2004-04-01 Issue:2 Volume:31 Page:209-217
ISSN:0143-991X
Container-title:Industrial Robot: An International Journal
language:en
Short-container-title:

Author:

Halme Aarne,Luksch Tobias,Ylönen Sami

Abstract

WorkPartner (WP), is the prototype of a mobile centaur‐like service robot designed to work interactively with humans in an outdoor environment. It moves using four wheeled legs and has a human‐like upper body. Tasks executed by the robot are similar to those that a human can do; the robot may replace or work together with people. Mobility is based on a hybrid system, which combines the benefits of both legs and wheels to provide good terrain negotiating capability and a large velocity range on variable ground. The robot is powered by a hybrid power system with electrical actuation and energy storage in the form of gasoline. The robot is equipped with a human‐like two‐hand manipulator. The long‐term goal is to develop an adaptive and learning robot, which can carry tools and work interactively with humans.

Publisher

Emerald

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering

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