Balance Maintenance in High-Speed Motion of Humanoid Robot Arm-Based on the 6D Constraints of Momentum Change Rate

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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High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot

IEEE Robotics and Automation Letters ◽

10.1109/lra.2018.2803207 ◽

2018 ◽

Vol 3 (3) ◽

pp. 1727-1734 ◽

Cited By ~ 7

Author(s):

Shotaro Mori ◽

Kazutoshi Tanaka ◽

Satoshi Nishikawa ◽

Ryuma Niiyama ◽

Yasuo Kuniyoshi

Keyword(s):

High Speed ◽

Humanoid Robot ◽

Robot Arm

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Implementation of Humanoid Robot Arm Based on SERCOS Network

Journal of Advanced Computational Intelligence and Intelligent Informatics ◽

10.20965/jaciii.2008.p0503 ◽

2008 ◽

Vol 12 (6) ◽

pp. 503-508

Author(s):

Yongseon Moon ◽

◽

Nak Yong Ko ◽

Dong Jin Seo ◽

Eunju Kim ◽

...

Keyword(s):

Real Time ◽

Communication System ◽

Humanoid Robot ◽

Robot Arm ◽

Joint Design

Designing, implementing and evaluating the performance of a humanoid robot arm, we verified its applicability and effectiveness based on the Serial Real-Time Communication System (SERCOS), which follows the concept of modularization corresponding to projected research. We also proposed single joint design modular for humanoid robot arm systems.

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

IEEE Robotics and Automation Letters ◽

10.1109/lra.2019.2928778 ◽

2019 ◽

Vol 4 (4) ◽

pp. 3601-3608 ◽

Cited By ~ 2

Author(s):

Shotaro Mori ◽

Kazutoshi Tanaka ◽

Satoshi Nishikawa ◽

Ryuma Niiyama ◽

Yasuo Kuniyoshi

Keyword(s):

High Speed ◽

Humanoid Robot ◽

Robot Arm

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Humanoid Robot Arm Kinematics Modeling and Motion Planning

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.644-650.247 ◽

2014 ◽

Vol 644-650 ◽

pp. 247-250

Author(s):

Qin Jun Du ◽

Xue Yi Zhang ◽

Shi Long Zhai

Keyword(s):

Trajectory Planning ◽

Humanoid Robot ◽

Joint Angle ◽

Interpolation Method ◽

Angular Acceleration ◽

Polynomial Method ◽

Robot Arm ◽

Quintic Polynomial ◽

Kinematics Modeling ◽

Cubic Polynomial

This paper establishes the kinematics model of humanoid robot arm, the arm forward kinematics equations were built and solved, based on the advantages of CCD (Cyclic Coordinate Descent) and BFS (Broyden-Fletcher-Shanno) algorithm to solve the inverse kinematics of humanoid robot arm. In the joint space, using cubic polynomial and quintic polynomial interpolation method respectively for each joint angle interpolation. Cubic polynomial trajectory planning can meet the point-to-point movement in general, but can not guarantee the continuity of acceleration of each point; Quintic polynomial trajectory planning can ensure that each point is continuous of the joint angle, angular velocity, and angular acceleration, so this polynomial method can meet the movement of the humanoid robot arm.

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High Speed Whole Body Dynamic Motion Experiment with Real Time Master-Slave Humanoid Robot System

2018 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2018.8461207 ◽

2018 ◽

Cited By ~ 5

Author(s):

Yasuhiro Ishiguro ◽

Kunio Kojima ◽

Fumihito Sugai ◽

Shunichi Nozawa ◽

Yohei Kakiuchi ◽

...

Keyword(s):

Real Time ◽

High Speed ◽

Humanoid Robot ◽

Whole Body ◽

Robot System ◽

Dynamic Motion ◽

Body Dynamic

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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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Sensorless External Force Detection Method for Robot Arm Based on Error Compensation Using BP Neural Network

International Journal of Humanoid Robotics ◽

10.1142/s0219843619500245 ◽

2019 ◽

Vol 16 (05) ◽

pp. 1950024

Author(s):

Guoyu Zuo ◽

Yongkang Qiu ◽

Yuelei Liu

Keyword(s):

Neural Network ◽

Real Time ◽

External Force ◽

Humanoid Robot ◽

Detection Method ◽

Joint Torque ◽

Robot Arm ◽

Force Detection ◽

Detection Model ◽

External Force Detection

This paper proposes an external force detection method for humanoid robot arm without using joint torque sensors, which can detect the external force of the joint space in real time during the operation of the robot. We first analyzed the structure of the humanoid robot arm we designed, and then established the external force detection model of the robot arm based on robot dynamics and motor dynamics. Subsequently, analyses were conducted on the error of the detection model and the dynamic model error of the robot arm is compensated by using the artificial neural network method to obtain more accurate external force value for the robot arm. In experiment, the accuracy test and the collision test were performed on the detected extern forces of the robot arm. The results show that the method can effectively improve the detection accuracy of the robot arm, and the robot arm can realize the real-time collision detection during its static and running states, which can ensure the safe operation of the robot.

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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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