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Title
Japanese: 
English:Intention Expression in Stuffed-Toy Robots based on Force Control 
Author
Japanese: 黎 園園, クリョーシリクン ナットナリー, 高瀬 裕, 三武 裕玄, 長谷川 晶一.  
English: YuanYuan Li, KLEAWSIRIKUL Nutnaree, Yutaka Takase, Hironori Mitake, Shoichi Hasegawa.  
Language English 
Journal/Book name
Japanese: 
English:ACE 2014 
Volume, Number, Page     No. 22   
Published date Nov. 1, 2014 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:ACE 2014 
Conference site
Japanese: 
English:Madeira 
Official URL http://haselab.net/project_soft_stuffed_robot
 
Abstract A novel stuffed-toy robot that expresses its intentions throughthe sense of force and touch is proposed. The robot is sosoft that one might wish to embrace it. Compliance of therobot can also be determined by holding its hands, similar tonewborn babies or small animals.Core technologies of our robot design include a distributedprocess multi-rate data-driven force control for the robot’sarms and a new force sensor mechanism for detecting external forces acting on the arms. The robot can change its mobility by changing the stiffness of the force control to realizeits intention expression.

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