ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

An Efficient Motion Generation Method for Redundant Humanoid Robot Arm Based on the Intrinsic Principles of Human Arm Motion

2018 ◽  
Vol 15 (06) ◽  
pp. 1850026 ◽  
Author(s):  
Meng Li ◽  
Weizhong Guo ◽  
Rongfu Lin ◽  
Changzheng Wu ◽  
Liangliang Han
Keyword(s):  
Muscle Strength ◽  
Humanoid Robot ◽  
Computing Time ◽  
Strength Properties ◽  
Robotic Arm ◽  
Robot Arm ◽  
Kinematic Redundancy ◽  
Motion Generation ◽  
Human Arm ◽  
Arm Motion

The aim of this paper is trying to propose an efficient method of inverse kinematics and motion generation for redundant humanoid robot arm based on the intrinsic principles of human arm motion. The intrinsic principle analysis takes into account both the skeletal kinematics and muscle strength properties. Firstly, this work analyzed the kinematic redundancy problem of a human arm. By analyzing the biological feature of a human arm, the kinematic redundancy boils down to the uncertainty of elbow position. Secondly, because the muscle’s kinematic and strength properties are critical for simulating biometric motion authentically, the muscle strength property was introduced as the criterion for configuration identification and motion generation. Three types of limb configuration, dog walking, gecko climbing, and human walking limb configuration were analyzed, and two geometrical configuration identification rules were deduced to generate biomimetic motion for humanoid robotic arms. By comparing the proposed method with other five IK methods, the proposed method significantly deduced the computing time. Finally, the configuration identification rules were used to generate motions for a 7-DoF humanoid robotic arm. The results showed that the biological rules can generate biomimetic, smooth arm motions for a redundant humanoid robotic arm.

Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm

2016 ◽  
Vol 136 (4) ◽  
pp. 254-262 ◽  
Author(s):  
Takahiro Yamazaki ◽  
Sho Sakaino ◽  
Toshiaki Tsuji
Keyword(s):  
Kinetic Modeling ◽  
Robot Arm ◽  
Wearable Robot ◽  
Human Arm

Robot Trajectory Planning Using Rational Frenet-Serret Curves

Volume 2 ◽  
2004 ◽  
Author(s):  
Reza Ravani ◽  
Ali Meghdari
Keyword(s):  
Trajectory Planning ◽  
Computer Animation ◽  
Rational Curves ◽  
Robot Arm ◽  
Robot Trajectory ◽  
Arm Motion ◽  
Sweep Surface ◽  
And Robotics ◽  
Rotation Minimizing Frame ◽  
Robot Trajectory Planning

The aim of this paper is to demonstrate that the techniques of Computer Aided Geometric Design such as spatial rational curves and surfaces could be applied to Kinematics, Computer Animation and Robotics. For this purpose we represent a method which utilizes a special class of rational curves called Rational Frenet-Serret (RF) [8] curves for robot trajectory planning. RF curves distinguished by the property that the motion of their Frenet-Serret frame is rational. We describe an algorithm for interpolation of positions by a rational Frenet-Serret motion. Further more we provide an analysis on spatial frames (Frenet-Serret frame and Rotation Minimizing frame) for smooth robot arm motion and investigate their applications in sweep surface modeling.

scholarly journals Sliding Mode Robot Control with Friction and Payload Estimation

2004 ◽  
Vol 8 (5) ◽  
pp. 553-561 ◽  
Author(s):  
Lörinc Márton ◽  
◽  
Béla Lantos ◽  
Keyword(s):  
Robot Control ◽  
Control Algorithm ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
Robot Arm ◽  
Tracking Accuracy ◽  
Parameter Adaptation ◽  
Robust Parameter ◽  
Payload Mass ◽  
Friction Parameters

The paper deals with robust motion control of robotic systems with unknown friction parameters and payload mass. The parameters of the robot arm were considered known with a given precision. To solve the control of the robot with unknown payload mass and friction parameters, sliding mode control algorithm was proposed combined with robust parameter adaptation techniques. Using Lyapunov method it was shown that the resulting controller achieves a guaranteed final tracking accuracy. Simulation results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme.

Human Motion Mapping to a Robot Arm with Redundancy Resolution

2014 ◽  
pp. 193-201 ◽  
Author(s):  
Fanny Ficuciello ◽  
Amedeo Romano ◽  
Vincenzo Lippiello ◽  
Luigi Villani ◽  
Bruno Siciliano
Keyword(s):  
Human Motion ◽  
Robot Arm ◽  
Redundancy Resolution

Regulation of 3D Human Arm Impedance Through Muscle Co-Contraction

2013 ◽  
Author(s):  
Harshil Patel ◽  
Gerald O’Neill ◽  
Panagiotis Artemiadis
Keyword(s):  
Dimensional Space ◽  
Human Subjects ◽  
Three Dimensional ◽  
Mechanical Impedance ◽  
Dominant Factor ◽  
Robot Arm ◽  
End Point ◽  
Human Arm ◽  
Arm Muscles ◽  
Experimental Trials

Humans have the inherent ability of performing highly dexterous and skillful tasks with their arms, involving maintenance of posture, movement, and interaction with the environment. The latter requires the human to control the dynamic characteristics of the upper limb musculoskeletal system. These characteristics are quantitatively represented by inertia, damping, and stiffness, which are measures of mechanical impedance. Many previous studies have shown that arm posture is a dominant factor in determining the end point impedance on a horizontal (transverse) plane. This paper presents the characterization of the end point impedance of the human arm in three-dimensional space. Moreover, it models the regulation of the arm impedance with respect to various levels of muscle co-contraction. The characterization is made by route of experimental trials where human subjects maintained arm posture while their arms were perturbed by a robot arm. Furthermore, the subjects were asked to control the level of their arm muscles’ co-contraction, using visual feedback of their muscles’ activation, in order to investigate the effect of this muscle co-contraction on the arm impedance. The results of this study show a very interesting, anisotropic increase of arm stiffness due to muscle co-contraction. These results could lead to very useful conclusions about the human’s arm biomechanics, as well as many implications for human motor control-specifically the control of arm impedance through muscle co-contraction.

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