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Stiffness analysis of the humanoid robot WABIAN-RIV: modelling

Stiffness analysis of the humanoid robot WABIAN-RIV: modelli...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G. Carbone H. Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute Waseda University Tokyo Japan Laboratory of Robotics and MechatronicsDiMSAT University of Cassino Cassino Italy Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

In this paper a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances.

关键词： Humanoid robots Leg Kinematics Neck Legged locomotion Shoulder Mechatronics Performance analysis Laboratories System analysis and design

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

ISBN: (纸本)0780377591

In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation. © 2003 IEEE.

关键词： Anthropomorphic robots

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Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV

Numerical and experimental estimation of stiffness performan...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： G. Carbone Hun-Ok Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute Waseda University Tokyo Japan Laboratory of Robotics and Mechatronic DiMSAT University of Cassino Cassino Italy Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f... 详细信息

关键词： Humanoid robots Mathematical model Leg Performance analysis Legged locomotion Kinematics Performance evaluation Algorithm design and analysis Humans Shoulder

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Stretch walking pattern generation for a biped humanoid robot

Stretch walking pattern generation for a biped humanoid robo...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Yu. Ogura Hun-ok Lim A. Takanishi Graduate School of Science and Engineering Waseda University Shinjuku Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan

This paper describes the knee stretch walking of the biped robot that has three degrees of freedom (DOF) in the ankle, one DOF in the knee and three DOF in the hip. To create the stable stretch walking pattern, a walking pattern generation method capable of specifying arbitrarily the knee joint angle is introduced. The motion of the waist avoids the singularity of the swing leg that can exist in single support phase. A compensatory motion algorithm to cancel the moments generated by the motion of the lower-limbs calculates the waist motion. Through stretch walking simulations, the effectiveness of the pattern generation method is confirmed.

关键词： Legged locomotion Humanoid robots Leg Humans Knee Hip Pelvis Joints Foot Force control

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Analysis and optimization of a non-time based motion controller for a nonholonomic mobile robot

Analysis and optimization of a non-time based motion control...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Hao Li S.X. Yang F. Karray Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Canada Pattem Analysis and Machine Intelligence (PAMI) Laboratory Department of Systems Design Engineering University of Waterloo Canada

In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.

关键词： Motion analysis Motion control Mobile robots Automatic control Force control Error correction Genetic algorithms Robot motion Robot control Robot kinematics

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： G. Carbone Y. Sugahara H.O. Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute – Waseda University Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT – University of Cassino Cassino Fr Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

关键词： Legged locomotion Humans Leg Testing Humanoid robots design engineering Wheels Payloads Algorithm design and analysis Prototypes

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Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism

Control and experiments of a multi-purpose bipedal locomotor...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Y. Sugahara T. Endo Hun-Ok Lim A. Takanishi Graduate School of Science and Engineering Waseda University Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Kanagawa Japan Humanoid Robotics Institute Waseda University Tokyo Japan Graduate School of Science and Engineering Waseda University Kanagawa Japan

This paper describes a control and a structure of a battery driven bipedal robot, WL-15(Waseda Leg-15), which has a 6-DOF parallel mechanism. WL-15 has been designed as a multi-purpose locomotion of robotic systems. This robot is controlled by the QNX real-time operating system. Using Math Works' SIMULINK and OPAL-RT's RT-LAB executed on Windows NT and QNX target systems, control software and pattern generator are developed. A walking control capable of dealing with various dynamic walking is proposed and tested indoors and outdoors using the WL-15. Dynamic biped walking is realized with the maximum step length of 200 mm, the maximum walking speed of 0.8 s/step and the minimum speed of 1.92 s/step. Also, the WL-15 is confirmed to be able to turn 90 deg in two steps and carry a load of 18 kg.

关键词： Legged locomotion Leg Mobile robots Humanoid robots Parallel robots Control systems Batteries design engineering Robot control Wheels

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Interactive biped locomotion based on visual/auditory information

Interactive biped locomotion based on visual/auditory inform...

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11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002

作者： Ogura, Yu Sugahara, Yusuke Kaneshima, Yoshiharu Hieda, Naoki Lim, Hun-Ok Takanishi, Atsuo Graduate School of Science and Engineering Waseda University 3-4-1 Ohkubo Shinjyuku-ku Tokyo 169-8555 Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan

ISBN: (纸本)0780375459

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve realtime interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as a step length, a step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method. © 2002 IEEE.

关键词： Anthropomorphic robots

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Fuzzy position/vibration control of a 3-DOF rigid robot with a flexible tool

Fuzzy position/vibration control of a 3-DOF rigid robot with...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Alasty A. Sepehri Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensor and actuator on the tool and with no a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations and precision guidance of robot tool tip for tracking various trajectories.

关键词： Fuzzy control Vibration control Robot sensing systems Vibration measurement Manipulators Position control Fuzzy logic Actuators Numerical simulation Fuzzy sets

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Interactive biped locomotion based on visual/auditory information

Interactive biped locomotion based on visual/auditory inform...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Yu Ogura Y. Sugahara Y. Kaneshima Naoki Hieda Hun-ok Lim A. Takanishi Graduate School of Science and Engineering Warsaw University of Technology Shinjuku Tokyo Japan Humanoid Robotics Institute Warsaw University of Technology Japan Department of System Design Engineering Kanagawa Institute of Technology Japan

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve real-time interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as step length, step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method.

关键词： Legged locomotion Human robot interaction Humanoid robots robotics and automation Learning systems Robot sensing systems Educational robots design engineering Manufacturing automation Collaborative work

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