High-Speed Humanoid Robot Arm for Badminton Using Pneumatic-Electric Hybrid Actuators

Based on the 6D constraints of momentum change rate (CMCR), this paper puts forward a real-time and full balance maintenance method for the humanoid robot during high-speed movement of its 7-DOF arm. First, the total momentum formula for the robot’s two arms is given and the momentum change rate is defined by the time derivative of the total momentum. The author also illustrates the idea of full balance maintenance and analyzes the physical meaning of 6D CMCR and its fundamental relation to full balance maintenance. Moreover, discretization and optimization solution of CMCR has been provided with the motion constraint of the auxiliary arm’s joint, and the solving algorithm is optimized. The simulation results have shown the validity and generality of the proposed method on the full balance maintenance in the 6 DOFs of the robot body under 6D CMCR. This method ensures 6D dynamics balance performance and increases abundant ZMP stability margin. The resulting motion of the auxiliary arm has large abundance in joint space, and the angular velocity and the angular acceleration of these joints lie within the predefined limits. The proposed algorithm also has good real-time performance.

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Development of humanoid robot arm for badminton with high accelerration and high speed wrist

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2017.2a2-e04 ◽

2017 ◽

Vol 2017 (0) ◽

pp. 2A2-E04

Author(s):

Shotaro MORI ◽

Kazutoshi TANAKA ◽

Satoshi NISHIKAWA ◽

Ryuma NIIYAMA ◽

Yasuo KUNIYOSHI

Keyword(s):

High Speed ◽

Humanoid Robot ◽

Robot Arm

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Wireless Gesture Controlled Semi-Humanoid Robot

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v5i4.pp237-243 ◽

2016 ◽

Vol 5 (4) ◽

pp. 237

Author(s):

Toshika Fegade ◽

Yogesh Kurle ◽

Sagar Nikale ◽

Praful Kalpund

Keyword(s):

System Design ◽

Mobile Phones ◽

High Speed ◽

Humanoid Robot ◽

Robotic Arm ◽

Motion Sensors ◽

Robot Arm ◽

Change Perception ◽

Human Arm ◽

Perception Of Action

<p>Robotics is a field concerned with the “intelligent connection of perception of action”. The most common manufacturing robot is the robotic arm with different degree of freedoms. Today, these humanoids perform many functions to assist humans in different undertakings such as space missions, driving and monitoring high speed vehicles. They are called semi-humanoids because they resemble to upper part of human body.</p><p> The idea of this paper is to change perception of controlling robotic arm. This paper provides a way to get rid of old fashioned remote controls and gives an intuitive technique for implementation of Semi-Humanoid Gesture controlled robot. It includes two robot arms which are exactly similar to human arm (5 fingers) increasing sensitivity of the system. It includes motion sensors -flex and accelerometer (used in mobile phones for tilting motion). The system design is divided into 3 parts namely: Robotic Arm, Real time video and Platform.</p> The prime aim of the design is that the robot arm and platform starts the movement as soon as the operator makes hand and leg gesture. The Robotic arm is synchronized with the gestures (hand postures) of the operator and the platform part is controlled by the leg gestures of the operator. The robot and the Gesture device are connected wireless via RF. The wireless communication enables user to interact with the robot in an effortless way.

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Independent joint dynamic sliding mode control of a humanoid robot arm

2008 IEEE International Conference on Robotics and Biomimetics ◽

10.1109/robio.2009.4913070 ◽

2009 ◽

Cited By ~ 1

Author(s):

Jiun-Yih Kuan ◽

Han-Pang Huang

Keyword(s):

Sliding Mode Control ◽

Humanoid Robot ◽

Sliding Mode ◽

Robot Arm ◽

Mode Control ◽

Dynamic Sliding Mode Control ◽

Dynamic Sliding Mode

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DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

International Journal of Humanoid Robotics ◽

10.1142/s0219843610002027 ◽

2010 ◽

Vol 07 (01) ◽

pp. 157-182 ◽

Cited By ~ 6

Author(s):

HAO GU ◽

MARCO CECCARELLI ◽

GIUSEPPE CARBONE

Keyword(s):

Humanoid Robot ◽

Humanoid Robots ◽

Robot Arm ◽

Dynamic Simulations ◽

Suitable Combination ◽

User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

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STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

International Journal of Information Acquisition ◽

10.1142/s0219878911002458 ◽

2011 ◽

Vol 08 (03) ◽

pp. 181-195

Author(s):

ZHAOXIAN XIE ◽

HISASHI YAMAGUCHI ◽

MASAHITO TSUKANO ◽

AIGUO MING ◽

MAKOTO SHIMOJO

Keyword(s):

Fuzzy Logic ◽

Feedback Control ◽

Experimental Verification ◽

High Speed ◽

Center Of Pressure ◽

Tactile Sensor ◽

Mobile Manipulator ◽

Tactile Sensing ◽

Robot Arm ◽

Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

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