1 / 12

Twendy -One

Twendy -One. Presented by: Brandon Norton Robot Designed by : WASEDA University Sugano Laboratory , 2009. Assistive Robotics. High Potential to help elderly and people with disabilities Fast growing field Precise force/ torque control needed. Twendy -One in Action.

rowa
Télécharger la présentation

Twendy -One

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Twendy-One Presented by: Brandon Norton Robot Designed by: WASEDA University Sugano Laboratory, 2009

  2. Assistive Robotics • High Potential to help elderly and people with disabilities • Fast growing field • Precise force/ torque control needed

  3. Twendy-One in Action

  4. Twendy-One’s Movement

  5. Joint Rotation Axis

  6. Movement cont… • Redundant DOFs to achieve specific motion • Singularities could present a problem, but are less likely to occur. • Torque controlled motors to avoid harm to humans.

  7. Twendy-One Hands

  8. Passive Joints • Passive Joints allow the link to twist at a different rate than the motor output • Improved safety for robot and environment

  9. Another Demonstration

  10. Limitations and Cost • Slow movement • Many motors needed • Specific tasks require advanced programming. • Cost between $110k and 220k

  11. Conclusion • Effective at carrying out many assistive tasks. • High DOF design is complicated but helpful for carrying out tasks. • Force sensors and passive joints help to improve safety. • Very expensive for the average potential customer!

  12. References • [1] H. Iwata and S. Sugano, “Design of human symbiotic robot TWENDY-ONE,” in 2009 IEEE International Conference on Robotics and Automation, 2009, pp. 580–586. • [2] Sugaiwa, T., Nezumiya, M., Iwata, H., & Sugano, S. (2010). “Motion-planning method with active body-environment contact for a hand-arm system including passive joints.” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 69–74). IEEE. doi:10.1109/IROS.2010.5652645 • [3] http://twendyone.com/index_e.html • [4] http://www.gizmag.com/twendy-one-robot-elderly/14496/

More Related