PaDY: An assembly task partner robot (1st report: A concept prototype and control)

Jun Kinugawa, Yuta Kawaai, Yusuke Sugahara, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review


This paper proposes a novel human-friendly/cooperative work support robot. This system named PaDY (in-time Parts/tools Delivery to You robot) supports worker by delivering parts and tools to worker based on recognized worker's behavior in the car production site to reduce the worker's physical workload and improve work efficiency. The concept of PaDY, hardware of the prototype, statistic approach to recognize worker's procedure, work progress estimation method and motion planning method based on them are proposed.

Original languageEnglish
Pages (from-to)4204-4217
Number of pages14
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number783
Publication statusPublished - 2011


  • Assembly support
  • Human-robot cooperation
  • Motion generation
  • Statistical robotics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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