Acquisition and Realization of a Rolling-Over Motion for a Humanoid with Soft Sensor Flesh

2008 ◽  
Vol 20 (2) ◽  
pp. 241-249 ◽  
Author(s):  
Tomoaki Yoshikai ◽  
◽  
Takashi Sagisaka ◽  
Marika Hayashi ◽  
Masayuki Inaba
Keyword(s):  
Design Method ◽  
Tactile Sensor ◽  
Soft Sensor ◽  
Dynamics Simulation ◽  
Whole Body ◽  
Body Contact ◽  
Motion Trajectories ◽  
Evolutionary Technique ◽  
Behavior Design ◽  
Sensor Information

Behavior design with rich sensor information is very important in realizing close interaction using whole-body contact. Our research target is to construct behavior design method taking into account the mutual interaction between a robot’s tactile sensor information and its motion trajectories. In this paper, a behavior acquisition framework using an evolutionary technique is constructed based on a dynamics simulation model including the emulation of tactile sensing. Furthermore, acquired rolling-over motions are tested using an actual humanoid “macra” with soft sensor flesh, and the results are analyzed and discussed for confirming the feasibility of our proposed system.

scholarly journals Development of Robots with Soft Sensor Flesh for Achieving Close Interaction Behavior

2012 ◽  
Vol 2012 ◽  
pp. 1-27 ◽  
Author(s):  
Tomoaki Yoshikai ◽  
Marika Hayashi ◽  
Yui Ishizaka ◽  
Hiroko Fukushima ◽  
Asuka Kadowaki ◽  
...  
Keyword(s):  
Sensor Network ◽  
Tactile Sensor ◽  
Soft Sensor ◽  
Whole Body ◽  
Tactile Sensing ◽  
Actual Behavior ◽  
Tactile Sensors ◽  
Practical Applications ◽  
Interaction Behavior ◽  
Close Interaction

In order to achieve robots' working around humans, safe contacts against objects, humans, and environments with broad area of their body should be allowed. Furthermore, it is desirable to actively use those contacts for achieving tasks. Considering that, many practical applications will be realized by whole-body close interaction of many contacts with others. Therefore, robots are strongly expected to achieve whole-body interaction behavior with objects around them. Recently, it becomes possible to construct whole-body tactile sensor network by the advancement of research for tactile sensing system. Using such tactile sensors, some research groups have developed robots with whole-body tactile sensing exterior. However, their basic strategy is making a distributed 1-axis tactile sensor network covered with soft thin material. Those are not sufficient for achieving close interaction and detecting complicated contact changes. Therefore, we propose “Soft Sensor Flesh.” Basic idea of “Soft Sensor Flesh” is constructing robots' exterior with soft and thick foam with many sensor elements including multiaxis tactile sensors. In this paper, a constructing method for the robot systems with such soft sensor flesh is argued. Also, we develop some prototypes of soft sensor flesh and verify the feasibility of the proposed idea by actual behavior experiments.

scholarly journals Research on college gymnastics teaching model based on multimedia image and image texture feature analysis

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Ying Wu ◽  
Jikun Liu
Keyword(s):  
Human Body ◽  
Rapid Development ◽  
Texture Feature ◽  
Texture Features ◽  
Dynamics Simulation ◽  
Image Texture ◽  
Whole Body ◽  
Database Modeling ◽  
Rigid Model ◽  
The Subject

AbstractWith the rapid development of gymnastics technology, novel movements are also emerging. Due to the emergence of various complicated new movements, higher requirements are put forward for college gymnastics teaching. Therefore, it is necessary to combine the multimedia simulation technology to construct the human body rigid model and combine the image texture features to display the simulation image in texture form. In the study, GeBOD morphological database modeling was used to provide the data needed for the modeling of the whole-body human body of the joint and used for dynamics simulation. Simultaneously, in order to analyze and summarize the technical essentials of the innovative action, this experiment compared and analyzed the hem stage of the cross-headstand movement of the subject and the hem stage of the 180° movement. Research shows that the method proposed in this paper has certain practical effects.

Modular Design Technology of Multi-DOF Mechanical Arm

2014 ◽  
Vol 599-601 ◽  
pp. 358-361
Author(s):  
Huan Qiang ◽  
Hu Zhang ◽  
Yan Zhou
Keyword(s):  
Modular Design ◽  
Design Method ◽  
Structure Design ◽  
Degree Of Freedom ◽  
Dynamics Simulation ◽  
Complicated Structure ◽  
Design Technology ◽  
Structure Line ◽  
Six Dof

A design method of modular joint is proposed according to the complicated structure, line exposed and heavier characteristics of multi-DOF (degree of freedom) mechanical arm. In this paper, the design of modular joint was carried on and a model of six-DOF mechanical arm was built through the research on the structure of mechanical arm. On this basis, dynamics simulation will be carried. The results show that the modular design method simplified the structure of the mechanical arm, the dynamics simulation proved it was feasible for the structure design and drive selection.

Detecting Feature of Haptic Interaction Based on Distributed Tactile Sensor Network on Whole Body

2007 ◽  
Vol 19 (1) ◽  
pp. 42-51 ◽  
Author(s):  
Tomoyuki Noda ◽  
◽  
Takahiro Miyashita ◽  
Hiroshi Ishiguro ◽  
Kiyoshi Kogure ◽  
...  
Keyword(s):  
Sensor Network ◽  
Tactile Sensor ◽  
The Self ◽  
Whole Body ◽  
Transmission Protocol ◽  
Processing Unit ◽  
Haptic Interaction ◽  
Tactile Information ◽  
Self Organized ◽  
Basic Experiments

To extract information about users contacting robots physically, the distribution density of tactile sensor elements, the sampling rate, and the resolution all must be high, increasing the volume of tactile information. In the self-organized skin sensor network we propose for dealing with a large number of tactile sensors embedded throughout a humanoid robot, each network node having a processing unit is connected to tactile sensor elements and other nodes. By processing tactile information in the network based on the situation, individual nodes process and reduce information rapidly in high sampling. They also secure information transmission routes to the host PC using a data transmission protocol for self-organizing sensor networks. In this paper, we verify effectiveness of our proposal through sensor network emulation and basic experiments in spatiotemporal calculation of tactile information using prototype hardware. As an emulation result of the self-organized sensor network, routes to the host PC are secured at each node, and a tree-like network is constructed recursively with the node as a root. As the basic experiments, we describe an edge detection as data processing and extraction for haptic interaction. In conclusion, local information processing is effective for detecting features of haptic interaction.

1A1-A02 Development of humanoid robot with whole body distributed tactile sensor

2007 ◽  
Vol 2007 (0) ◽  
pp. _1A1-A02_1-_1A1-A02_4 ◽  
Author(s):  
Yoshiyuki OHMURA ◽  
Akihiko Nagakubo ◽  
Yasuo Kuniyoshi
Keyword(s):  
Humanoid Robot ◽  
Tactile Sensor ◽  
Whole Body
Sign in / Sign up

Export Citation Format

Share Document