Force Control and Reaching Movements on the iCub Humanoid Robot

2016 ◽  
pp. 161-182 ◽  
Author(s):  
Giorgio Metta ◽  
Lorenzo Natale ◽  
Francesco Nori ◽  
Giulio Sandini
Keyword(s):  
Force Control ◽  
Humanoid Robot ◽  
Reaching Movements

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

scholarly journals Pinching at Fingertips for Humanoid Robot Hand

2005 ◽  
Vol 17 (6) ◽  
pp. 655-663 ◽  
Author(s):  
Kiyoshi Hoshino ◽  
◽  
Ichiro Kawabuchi ◽  
Keyword(s):  
Force Control ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Degree Of Freedom ◽  
Robot Hand ◽  
Motor Functions ◽  
Weak Force ◽  
Robot Hands ◽  
Finger Motion

Delicate actions such as picking up paper or a needle with the fingertips – an important function for robot hands – are extremely difficult. We propose a lightweight robot hand based on extracting minimum required motor functions and implementing them in a robot. We also propose a robot hand that realizes appropriate pinching by adding the minimum required degree of supplementary freedom realizable only mechanically. In the robot hand, we focus mainly on adding degrees of freedom for independent finger motion to the terminal joints and a degree of freedom for twisting by the thumb. The results showed that providing the fingertip with a joint with broad force control even with weak force effectively ensures delicate fingertip control in a humanoid robot hand.

scholarly journals Characterization and Study of the Primitive Dynamic Movements Required to Bi-Manipulate a Box

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1354
Author(s):  
J. Hernandez-Vicen ◽  
S. Martinez ◽  
R. de Santos-Rico ◽  
Elisabeth Menendez ◽  
C. Balaguer
Keyword(s):  
Force Control ◽  
Humanoid Robot ◽  
The Real ◽  
Movement Strategies ◽  
The Future ◽  
End Effectors

Automating the action of finding the opening side of a box is not possible if the robot is not capable of reaching and evaluating all of its sides. To achieve this goal, in this paper, three different movement strategies to bi-manipulate a box are studied: overturning, lifting, and spinning it over a surface. First of all, the dynamics involved in each of the three movement strategies are studied using physics equations. Then, a set of experiments are conducted to determine if the real response of the humanoid robot, TEO, to a box is consistent with the expected answer based on theoretical calculus. After the dynamics validation, the information on the forces and the position in the end effectors is used to characterize these movements and create its primitives. These primitive movements will be used in the future to design a hybrid position–force control in order to adapt the movements to different kinds of boxes. The structure of this control is also presented in this paper.

Landing Force Control for Humanoid Robot by Time-Domain Passivity Approach

2007 ◽  
Vol 23 (6) ◽  
pp. 1294-1301 ◽  
Author(s):  
Yong-Duk Kim ◽  
Bum-Joo Lee ◽  
Jee-Hwan Ryu ◽  
Jong-Hwan Kim
Keyword(s):  
Time Domain ◽  
Force Control ◽  
Humanoid Robot

scholarly journals Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm

2013 ◽  
Vol 2013 ◽  
pp. 1-8
Author(s):  
Jacopo Zenzeri ◽  
Dalia De Santis ◽  
Vishwanathan Mohan ◽  
Maura Casadio ◽  
Pietro Morasso
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Static Stability ◽  
Reaching Movements ◽  
Whole Body ◽  
Passive Motion ◽  
Functional Reach ◽  
Functional Reach Test ◽  
Passive Motion Paradigm

The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot.

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