{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:55:52Z","timestamp":1754157352357,"version":"3.41.2"},"reference-count":27,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2009,8,21]],"date-time":"2009-08-21T00:00:00Z","timestamp":1250812800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,8,21]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Autonomous mobile manipulation depends on a lot of effort at various levels. In general, the hardware design is as important as algorithm (or software) design. In particular, the absence of certain capabilities of hardware can seriously affect the feasibility and performance of algorithms. The purpose of this paper is to present work on developing hardware capability for mobile manipulation by low\u2010cost humanoids (LOCH) humanoid robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>This paper presents research work on developing the hardware support which enables vision\u2010guided mobile manipulation realized on top of a biped humanoid robot called LOCH. One important goal which guides the development is to achieve the hardware capability with human\u2010like dexterity, modularity, functionality, and appearance.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>This paper discusses the detail of solutions leading to the realization of the intended hardware capability, focusing in particular on the issues related to mechanism, actuation, distributed sensing, and distributed control of humanoid head, humanoid hands and humanoid arms. Finally, the paper shows the result of the actual prototype, which can be controlled by a remote control station through wireless connection.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>In designing a machine, it is common to do motor\u2010sizing and material selection. Since these are standard procedures, these details are omitted because readers with the training in mechanical engineering should be able to work out such details in order to select the appropriate motors and materials. Also, this paper does not delve into the description of the biped system of LOCH humanoid, because such work requires another long paper in order to reveal major details.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper presents the major detail of research efforts toward developing hardware capabilities for achieving autonomous mobile manipulation by LOCH humanoid robot, focusing on three important modules, namely: perception head, human\u2010like hands, and arms. The uniqueness of this work is twofold. First, LOCH humanoid robot's perception head has the most versatile sensing capabilities, which are fully integrated into a compact and human\u2010like head. Second, each of LOCH humanoid robot's hands has 14 degrees of freedom, which are realized within a mechanism which is of human\u2010hand size and shape. In addition, the perception head, humanoid hands and humanoid arms are seamlessly integrated together owing to the adoption of a distributed system which supports networked sensing and control through the use of both control area network bus and transmission control protocol\/internet protocol internet.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910980150","type":"journal-article","created":{"date-parts":[[2009,10,5]],"date-time":"2009-10-05T11:26:26Z","timestamp":1254741986000},"page":"428-440","source":"Crossref","is-referenced-by-count":2,"title":["Developing hardware capability for mobile manipulation by low\u2010cost humanoid robot (LOCH)"],"prefix":"10.1108","volume":"36","author":[{"given":"Ming","family":"Xie","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xian","family":"Linbo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hejin","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chengsen","family":"Song","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022031420302256100_b15","unstructured":"Adee, S. (2008), \u201cA \u2018Manhattan Project\u2019 for the next generation of bionic arms\u201d, IEEE Spectrum, March."},{"key":"key2022031420302256100_b20","unstructured":"Akachi, K., Kaneko, K., Kanehira, N., Ota, S., Miyamori, G., Kajita, S. and Kanehiro, F. (2005), \u201cHumanoid robot HRP\u20103P\u201d, Proceedings of 2005 5th IEEE\u2010RAS International Conference on Humanoid Robots, Nice, September 22\u201026."},{"key":"key2022031420302256100_b11","unstructured":"Butterfass, J., Grebenstein, M., Liu, H. and Hirzinger, G. (2001), \u201cDLR\u2010Hand II: next generation of a dextrous robot hand\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, pp. 109\u201014."},{"key":"key2022031420302256100_b9","doi-asserted-by":"crossref","unstructured":"Butterfass, J., Hirzinger, G., Knoch, S. and Liu, H. (1998), \u201cDLR's multisensory articulated hand Part I: hard and software architecture\u201d, Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, pp. 2081\u20106.","DOI":"10.1109\/ROBOT.1998.680625"},{"key":"key2022031420302256100_b26","doi-asserted-by":"crossref","unstructured":"Cutkosky, M. (1989), \u201cOn grasp choice, grasp models and the design of hands for manufacturing tasks\u201d, IEEE Transactions on Robotics and Automation, Vol. 5 No. 3, pp. 269\u201079.","DOI":"10.1109\/70.34763"},{"key":"key2022031420302256100_b12","doi-asserted-by":"crossref","unstructured":"He, P., Jin, M.H., Yang, L., Wei, R., Liu, Y.W., Cai, H.G., Liu, H., Seitz, N., Butterfass, J. and Hirzinger, G. (2004), \u201cHigh performance DSP\/FPGA controller for implementation of HIT\/DLR dexterous robot hand\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, pp. 3397\u2010402.","DOI":"10.1109\/ROBOT.2004.1308779"},{"key":"key2022031420302256100_b3","unstructured":"Hirose, M., Haikawa, Y., Takenaka, T. and Hirai, K. (2001), \u201cDevelopment of humanoid robot ASIMO\u201d, Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Workshop 2, Wailea, October 29."},{"key":"key2022031420302256100_b10","unstructured":"Hirzinger, G., Butterfass, J., Fischer, M., Grebenstein, M., Haenel, M., Liu, H., Schaefer, I. and Sporer, N. (2000), \u201cMechatronics approach to the design of light\u2010weight arms and multifingered hands\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 46\u201054."},{"key":"key2022031420302256100_b2","doi-asserted-by":"crossref","unstructured":"Hoshino, K. and Kawabuchi, I. (2005), \u201cStable pinching with fingertips in humanoid robot hand\u201d, Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Edmonton, pp. 3815\u201020.","DOI":"10.1109\/IROS.2005.1545563"},{"key":"key2022031420302256100_b16","doi-asserted-by":"crossref","unstructured":"Ishida, T., Kuroki, Y. and Yamaguchi, J. (2003), \u201cMechanical system of a small biped entertainment robot\u201d, Proceedings of the 2003 IEEE\/RSJ, International Conference on Intelligent Robot and Systems, Las Vegas, NV, October.","DOI":"10.1109\/RISSP.2003.1285665"},{"key":"key2022031420302256100_b4","unstructured":"Kajita, S., Hirukawa, H., Yokoi, K. and Harada, K. (2005), Humanoid Robots, Ohm\u2010sha, Tokyo."},{"key":"key2022031420302256100_b28","doi-asserted-by":"crossref","unstructured":"Kaneko, K., Harada, K. and Kanehiro, F. (2008), \u201cHumanoid robot HRP\u20103\u201d, paper presented at 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Nice, September 22\u201026.","DOI":"10.1109\/IROS.2008.4650604"},{"key":"key2022031420302256100_b19","doi-asserted-by":"crossref","unstructured":"Kaneko, K., Kanehiro, F., Kajita, S., Hirukawa, H., Kawasaki, T., Hirata, M., Akachi, K. and Isozumi, T. (2004), \u201cHumanoid robot HRP\u20102\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 1083\u201090.","DOI":"10.1109\/ROBOT.2004.1307969"},{"key":"key2022031420302256100_b7","unstructured":"Kawasaki, H. and Komatsu, T. (1998), \u201cDevelopment of an anthropomorphic robot hand driven by built\u2010in servo\u2010motors\u201d, Proceedings of the 3rd International Conference ICAM, Leuven, Vol. 1, pp. 215\u201020."},{"key":"key2022031420302256100_b8","doi-asserted-by":"crossref","unstructured":"Kawasaki, H., Komatsu, T. and Uchiyama, K. (2002), \u201cDexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II\u201d, IEEE\/ASME Transactions on Mechatronics, Vol. 7 No. 3, pp. 296\u2010303.","DOI":"10.1109\/TMECH.2002.802720"},{"key":"key2022031420302256100_b17","unstructured":"Kim, J.Y., Park, I.W., Lee, J., Kim, M.S., Cho, B.K. and Oh, J.H. (2005), \u201cSystem design and dynamic walking of humanoid robot KHR\u20102\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, pp. 1443\u20108."},{"key":"key2022031420302256100_b13","doi-asserted-by":"crossref","unstructured":"Liu, H., Wu, K., Meusel, P., Hirzinger, G., Jin, M.H., Liu, Y.W., Fan, S.W., Lan, T. and Chen, Z.P. (2008), \u201cA dexterous humanoid five\u2010fingered robotic hand\u201d, Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, Munich, Germany, August 1\u20103.","DOI":"10.1109\/ROMAN.2008.4600694"},{"key":"key2022031420302256100_b18","unstructured":"Park, I.W., Kim, J.Y., Lee, J. and Oh, J.H. (2005), \u201cMechanical design of humanoid robot platform KHR\u20103 (KAIST humanoid robot\u20103: HUBO)\u201d, Proceedings of the IEEE\u2010RAS International Conference on Humanoid Robots, Tsukuba, pp. 321\u20106."},{"key":"key2022031420302256100_b1","doi-asserted-by":"crossref","unstructured":"Park, J. and Khatib, O. (2005), \u201cRobust Haptic Teleoperation of a mobile manipulation platform\u201d, in Ang, M. and Khatib, O. (Eds), Experimental Robotics IX, Springer Tracts in Advanced Robotics, Berlin.","DOI":"10.1007\/11552246_52"},{"key":"key2022031420302256100_b14","unstructured":"Shadow Robot Co. (2008), \u201cShadow dexterous hand C5: technical specification\u201d, available at: www.shadowrobot.com."},{"key":"key2022031420302256100_b6","doi-asserted-by":"crossref","unstructured":"Xie, M. (2003), Fundamentals of Robotics: Linking Perception to Action, World Scientific, Singapore.","DOI":"10.1142\/5230"},{"key":"key2022031420302256100_b5","doi-asserted-by":"crossref","unstructured":"Xie, M., Zhong, Z.W., Zhang, L., Xian, L.B., Wang, L., Yang, H.J., Song, C.S. and Li, J. (2008), \u201cA deterministic way of planning and controlling biped walking of LOCH humanoid robot\u201d, Proceedings of the 11th International Conference on Climbing and Walking Robots, Coimbra.","DOI":"10.1142\/9789812835772_0143"},{"key":"key2022031420302256100_frd1","doi-asserted-by":"crossref","unstructured":"Kaneko, K., Harada, K. and Kanehiro, F. (2007), \u201cDevelopment of multi\u2010fingered hand for life\u2010size humanoid robots\u201d, paper presented at 2007 IEEE International Conference on Robotics and Automation, Roma, 10\u201014 April.","DOI":"10.1109\/ROBOT.2007.363102"},{"key":"key2022031420302256100_frd3","doi-asserted-by":"crossref","unstructured":"Napier, J. (1956), \u201cThe prehensile movements of the human hand\u201d, Journal of Bone and Joint Surgery, Vol. 38B No. 4, pp. 902\u201013.","DOI":"10.1302\/0301-620X.38B4.902"},{"key":"key2022031420302256100_frd4","unstructured":"Seireg, A. and Arvikar, R. (1989), Biomechanical Analysis of the Muskoskeletal Structure for Medicine and Sports, Hemisphere, New York, NY."},{"key":"key2022031420302256100_frd5","unstructured":"Shin, D.J., Sardellitti, I. and Khatib, O. (2008), \u201cA hybrid actuation approach for human\u2010friendly robot design\u201d, Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA."},{"key":"key2022031420302256100_frd6","unstructured":"Taylor, C.L. and Schwarz, R.J. (1955), \u201cThe anatomy and mechanics of the human hand\u201d, Artificial Limbs, Vol. 2, pp. 22\u201035."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910910980150","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910980150\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910980150\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:28Z","timestamp":1753401028000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/36\/5\/428-440\/179593"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,8,21]]},"references-count":27,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2009,8,21]]}},"alternative-id":["10.1108\/01439910910980150"],"URL":"https:\/\/doi.org\/10.1108\/01439910910980150","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2009,8,21]]}}}