Human symbiotic robot design based on division and unification of functional requirements

摘要

The study described aims to develop human symbiotic robots, which have the abilities of carrying out physical, informational, and psychological interaction, and support daily work in a human's living space. We mainly discuss two essential design requirements for realizing human-robot symbiosis, such as safety and dexterity. First, through the development of human symbiotic robot WENDY (Waseda ENgineering Designed sYmbiont), a mechanical design method is proposed. Next, the effectiveness of the method is evaluated by several basic experiments, such as object grasping by using visual information, impact safety motion, and pressure control on the fingertip. Finally, performances of WENDY are also exhibited from several experiments that require high level integration of whole body mechanisms.