Standing and sitting motion of inverted pendulum type assist robot using whole-body motion with force control

2007 ◽  
Author(s):  
SeongHee Jeong ◽  
Takayuki Takahashi
Keyword(s):  
Force Control ◽  
Inverted Pendulum ◽  
Body Motion ◽  
Whole Body

Whole-Body Motion and Landing Force Control for Quadrupedal Stair Climbing

2019 ◽  
Author(s):  
Young Hun Lee ◽  
Ja Choon Koo ◽  
Hyouk Ryeol Choi ◽  
Yoon Haeng Lee ◽  
Hyunyong Lee ◽  
...  
Keyword(s):  
Force Control ◽  
Body Motion ◽  
Stair Climbing ◽  
Whole Body

scholarly journals Control of Pushing and Pulling Motion of a Wheeled Inverted Pendulum Based on a Reduced Order Observer

2011 ◽  
Vol 2-3 ◽  
pp. 74-79
Author(s):  
Luis Canete ◽  
Sunao Kimura ◽  
Takayuki Takahashi
Keyword(s):  
Disturbance Observer ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Initial Step ◽  
Body Motion ◽  
Whole Body ◽  
Reduced Order ◽  
Wheeled Inverted Pendulum ◽  
Reduced Order Observer ◽  
Pushing And Pulling

In this paper the control of the I-PENTAR, a wheeled inverted pendulum type robot being developed by the authors, for pushing and pulling a cart is examined. To control the movement of the object is being pushed or pulled, information regarding several external parameters, eg. Mass of the object and friction components, must be considered. In most cases these parameters are not known before hand or may change. One method of compensating for these unknown or changing external parameters is to represent them as an equivalent reaction force from the object. Our first subject of this research is to design a disturbance observer to estimate and compensate the equivalent force. Another situation is of pushing and pulling a cart with the inverted pendulum type robot traversing an inclined plane. As an initial step to solving this problem in this paper, a force application method using whole body motion of the inverted pendulum type robot is proposed. The whole body motion means changing the balance of the robot to attain a certain desired force. During application of this force the robot must remain in its stabilized or balanced state. For an inverted pendulum type robot, this instantly poses a major problem. To solve the problem, a reduced order disturbance observer is used in this paper to estimate the force applied by the robot. On the other hand, I-PENTAR is targeted for environments where it can interact with humans and so safety is a major concern. For example, in the event that an obstacle bumps the robot as it is pushing the cart, a large and sudden force estimator based on the disturbance observer is also built into the controller. Simulation and experiments using the reduced order disturbance observer and evaluation of the whole body motion force control are presented.

scholarly journals Force direction patterns promote whole body stability even in hip-flexed walking, but not upper body stability in human upright walking

2017 ◽  
Vol 473 (2207) ◽  
pp. 20170404 ◽  
Author(s):  
Roy Müller ◽  
Christian Rode ◽  
Soran Aminiaghdam ◽  
Johanna Vielemeyer ◽  
Reinhard Blickhan
Keyword(s):  
Inverted Pendulum ◽  
Focal Point ◽  
Metabolic Cost ◽  
Body Motion ◽  
Upper Body ◽  
Whole Body ◽  
Centre Of Mass ◽  
General Relevance ◽  
Force Direction ◽  
Reaction Forces

Directing the ground reaction forces to a focal point above the centre of mass of the whole body promotes whole body stability in human and animal gaits similar to a physical pendulum. Here we show that this is the case in human hip-flexed walking as well. For all upper body orientations (upright, 25°, 50°, maximum), the focal point was well above the centre of mass of the whole body, suggesting its general relevance for walking. Deviations of the forces' lines of action from the focal point increased with upper body inclination from 25 to 43 mm root mean square deviation (RMSD). With respect to the upper body in upright gait, the resulting force also passed near a focal point (17 mm RMSD between the net forces' lines of action and focal point), but this point was 18 cm below its centre of mass. While this behaviour mimics an unstable inverted pendulum, it leads to resulting torques of alternating sign in accordance with periodic upper body motion and probably provides for low metabolic cost of upright gait by keeping hip torques small. Stabilization of the upper body is a consequence of other mechanisms, e.g. hip reflexes or muscle preflexes.

Human to Robot Whole-Body Motion Transfer

2021 ◽  
Author(s):  
Miguel Arduengo ◽  
Ana Arduengo ◽  
Adria Colome ◽  
Joan Lobo-Prat ◽  
Carme Torras
Keyword(s):  
Body Motion ◽  
Whole Body

Whole-Body Motion Planning

2018 ◽  
pp. 1575-1599 ◽  
Author(s):  
Eiichi Yoshida ◽  
Fumio Kanehiro ◽  
Jean-Paul Laumond
Keyword(s):  
Motion Planning ◽  
Body Motion ◽  
Whole Body

scholarly journals Responses of Anterior Superior Temporal Polysensory (STPa) Neurons to “Biological Motion” Stimuli

1994 ◽  
Vol 6 (2) ◽  
pp. 99-116 ◽  
Author(s):  
M. W. Oram ◽  
D. I. Perrett
Keyword(s):  
Biological Motion ◽  
Temporal Cortex ◽  
The Body ◽  
Body Motion ◽  
Whole Body ◽  
Global Pattern ◽  
Lighting Conditions ◽  
Specific Direction ◽  
Direction Of Movement ◽  
Light Stimuli

Cells have been found in the superior temporal polysensory area (STPa) of the macaque temporal cortex that are selectively responsive to the sight of particular whole body movements (e.g., walking) under normal lighting. These cells typically discriminate the direction of walking and the view of the body (e.g., left profile walking left). We investigated the extent to which these cells are responsive under “biological motion” conditions where the form of the body is defined only by the movement of light patches attached to the points of limb articulation. One-third of the cells (25/72) selective for the form and motion of walking bodies showed sensitivity to the moving light displays. Seven of these cells showed only partial sensitivity to form from motion, in so far as the cells responded more to moving light displays than to moving controls but failed to discriminate body view. These seven cells exhibited directional selectivity. Eighteen cells showed statistical discrimination for both direction of movement and body view under biological motion conditions. Most of these cells showed reduced responses to the impoverished moving light stimuli compared to full light conditions. The 18 cells were thus sensitive to detailed form information (body view) from the pattern of articulating motion. Cellular processing of the global pattern of articulation was indicated by the observations that none of these cells were found sensitive to movement of individual limbs and that jumbling the pattern of moving limbs reduced response magnitude. A further 10 cells were tested for sensitivity to moving light displays of whole body actions other than walking. Of these cells 5/10 showed selectivity for form displayed by biological motion stimuli that paralleled the selectivity under normal lighting conditions. The cell responses thus provide direct evidence for neural mechanisms computing form from nonrigid motion. The selectivity of the cells was for body view, specific direction, and specific type of body motion presented by moving light displays and is not predicted by many current computational approaches to the extraction of form from motion.

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