Prototyping Force-Controlled 3-DOF Hydraulic Arms for Humanoid Robots

2016 ◽  
Vol 28 (1) ◽  
pp. 95-103 ◽  
Author(s):  
Kensuke Izawa ◽  
◽  
Sang-Ho Hyon
Keyword(s):  
Force Feedback ◽  
Rapid Prototype ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Singular Perturbation Analysis ◽  
Wide Range ◽  
Force Tracking ◽  
Dual Arm Robot ◽  
Dual Arm

[abstFig src='/00280001/11.jpg' width=""230"" text='Hydraulic dual arm robot prototype' ]This paper reports on a hydraulic dual arm robot developed as a rapid prototype for our hydraulic humanoid robot. The lightweight arms (4 kg each) have three joints driven by hydraulic linear servo actuators that can achieve higher torque and speed than human arms. A double four-bar linkage provides a wide range of motion (210°) to the shoulder joint. Each joint has torque controllability that is fully utilized for compliant whole-body motion control tasks. Based on singular perturbation analysis, we discuss how damping on the joints is actively modulated by hydraulic force feedback control, which is then utilized in our passivity-based task-space force control scheme. The effectiveness of the proposed system is experimentally evaluated through zero-force tracking gravity compensation with a 10 kg payload and object manipulation tasks.

scholarly journals Efficient Planning of Humanoid Motions by Modifying Constraints

2013 ◽  
Vol 4 (1) ◽  
Author(s):  
ChangHyun Sung ◽  
Takahiro Kagawa ◽  
Yoji Uno
Keyword(s):  
Motion Planning ◽  
Sufficient Conditions ◽  
Computation Time ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Planning Problem ◽  
Point Representation ◽  
Efficient Planning ◽  
Unpredictable Environment

AbstractIn this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.

Whole-body motion and footstep planning for humanoid robots with multi-heuristic search

2019 ◽  
Vol 116 ◽  
pp. 51-63 ◽  
Author(s):  
Rizwan Asif ◽  
Ali Athar ◽  
Faisal Mehmood ◽  
Fahad Islam ◽  
Yasar Ayaz
Keyword(s):  
Heuristic Search ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body

scholarly journals Inverse kinematics-based motion planning for dual-arm robot with orientation constraints

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983685 ◽  
Author(s):  
Jiangping Wang ◽  
Shirong Liu ◽  
Botao Zhang ◽  
Changbin Yu
Keyword(s):  
Motion Planning ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Constraint Manifold ◽  
Wide Range ◽  
Planning Algorithm ◽  
Motion Paths ◽  
Dual Arm Robot ◽  
Dual Arm

This article proposes an efficient and probabilistic complete planning algorithm to address motion planning problem involving orientation constraints for decoupled dual-arm robots. The algorithm is to combine sampling-based planning method with analytical inverse kinematic calculation, which randomly samples constraint-satisfying configurations on the constraint manifold using the analytical inverse kinematic solver and incrementally connects them to the motion paths in joint space. As the analytical inverse kinematic solver is applied to calculate constraint-satisfying joint configurations, the proposed algorithm is characterized by its efficiency and accuracy. We have demonstrated the effectiveness of our approach on the Willow Garage’s PR2 simulation platform by generating trajectory across a wide range of orientation-constrained scenarios for dual-arm manipulation.

scholarly journals Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach

2013 ◽  
Vol 32 (9-10) ◽  
pp. 1089-1103 ◽  
Author(s):  
Sébastien Dalibard ◽  
Antonio El Khoury ◽  
Florent Lamiraux ◽  
Alireza Nakhaei ◽  
Michel Taïx ◽  
...  
Keyword(s):  
Motion Planning ◽  
Integrated Approach ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Dynamic Walking

scholarly journals A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback

Micromachines ◽  
2021 ◽  
Vol 12 (10) ◽  
pp. 1141
Author(s):  
Yang Yang ◽  
Kaixiang Jin ◽  
Honghui Zhu ◽  
Gongfei Song ◽  
Haojian Lu ◽  
...  
Keyword(s):  
Food Industry ◽  
Simple Structure ◽  
Force Feedback ◽  
Force Sensor ◽  
Whole Body ◽  
Service Robot ◽  
Fin Ray ◽  
Wide Range ◽  
3D Printed ◽  
Gripping Force

Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.

Cooperative control of dual-arm robots in different human-robot collaborative tasks

2019 ◽  
Vol 40 (1) ◽  
pp. 95-104 ◽  
Author(s):  
Xinbo Yu ◽  
Shuang Zhang ◽  
Liang Sun ◽  
Yu Wang ◽  
Chengqian Xue ◽  
...  
Keyword(s):  
Cooperative Control ◽  
Force Feedback ◽  
Control Strategies ◽  
Experimental Results ◽  
Distant Object ◽  
Content Type ◽  
Human Arm ◽  
Dual Arm Robot ◽  
Dual Arm ◽  
Robot Platform

Purpose This paper aims to propose cooperative control strategies for dual-arm robots in different human–robot collaborative tasks in assembly processes. The authors set three different regions where robot performs different collaborative ways: “teleoperate” region, “co-carry” region and “assembly” region. Human holds the “master” arm of dual-arm robot to operate the other “follower” arm by our proposed controller in “teleoperation” region. Limited by the human arm length, “follower” arm is teleoperated by human to carry the distant object. In the “co-carry” region, “master” arm and “follower” arm cooperatively carry the object to the region close to the human. In “assembly” region, “follower” arm is used for fixing the object and “master” arm coupled with human is used for assembly. Design/methodology/approach A human moving target estimated method is proposed for decreasing efforts for human to move “master” arm, radial basis functions neural networks are used to compensate for uncertainties in dynamics of both arms. Force feedback is designed in “master” arm controller for human to perceive the movement of “follower” arm. Experimental results on Baxter robot platform show the effectiveness of this proposed method. Findings Experimental results on Baxter robot platform show the effectiveness of our proposed methods. Different human-robot collaborative tasks in assembly processes are performed successfully under our cooperative control strategies for dual-arm robots. Originality/value In this paper, cooperative control strategies for dual-arm robots have been proposed in different human–robot collaborative tasks in assembly processes. Three different regions where robot performs different collaborative ways are set: “teleoperation” region, “co-carry” region and “assembly” region.

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