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Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that allows a robot to maintain balance while tracking...
The essential component of legged locomotion is control of the ground reaction force. To understand the role of the musculoskeletal body in dynamic locomotion, we investigate bipedal running using a musculoskeletal “Athlete Robot”. The configuration of the muscles in the robot is compatible with the human. The spring-like property of the human lower leg during running is modeled as an elastic blade...
This paper discusses biped walking which is robust to external disturbances and how it could be realized by means of achieving compliance and dynamic trajectory generation. A method of limiting the ground reaction forces is presented. It is mathematically equivalent to a conventional position control system when the ground reaction forces are within the set limits, therefore in this case the positioning...
In recent years there has been increasing interest in manipulators presenting animal muskuloskeletal characteristics such as bi-articular actuators. Manipulators driven by bi-articular actuators usually have more actuators than joints, presenting therefore actuator redundancy. In this paper a new approach based on ∞-norm to resolve actuators redundancy is proposed. The proposed method is compared...
A new force control algorithm was proposed for parallel system. Through the analysis of the kinematics theory of multi-axis motion controller, a force control algorithm was put forward based on kinematics. Then a procedure of 2D parallel system as example was given. The result shows it is easy to realize and modify.
This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential...
A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By applying this posture/force control, we can regard the robot system as a simple linear inverted pendulum...
This paper presents a model-based method, called Dynamic Balance Force Control (DBFC), for determining full body joint torques based on desired COM motion and contact forces for compliant humanoid robots. The center of mass (COM) dynamics are affected directly through contact force control to achieve stable balance. This idea is used to formulate DBFC considering the full rigid-body dynamics of the...
In this paper we propose a new method to manipulate heavy objects for a humanoid robot. In this method the manipulation strategy is determined based on on-line estimation of the operational force. We integrate these functions with a real-time controller that controls the external force and maintains full-body balance. The feature point of our work is that since a full-body control system includes...
A goal of our research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand. The joints in the fingers of the developed robotic hand are powered by a newly proposed strings transmission named “Twist Drive”. The transmission converts torque into a pulling force by using a pair of strings that twist on each other. The basic characteristics...
Biped robot may become unstable during dynamic walking because of the huge impact/contact forces produced by foot instant landing. In this paper, force/torque-based compliance control is applied to absorb the impact forces generated between the contacting foot and the ground to keep stable dynamic walking. By imitating human's muscles to absorb the landing force, this method models the ground and...
We proposed a nonlinear reference shaping controller for a manipulator which shares its workspace with humans. In this paper, two adaptation methods to external force; “slow adaptation” and “rapid adaptation” are proposed for smoother reaching movements and submissive behavior to follow the force. These make smooth endpoint speed profiles and movements flexible to follow external force without detecting...
The article presents the inverse dynamics model of a 6-Universal-Prismatic-Spherical (UPS) parallel mechanism and proposes the structure of a force controller for the execution of tasks characterized by interaction with the environment. The task space model of machine's dynamics is obtained in an efficient and compact form by means of the principle of virtual work. A simulation is shown that hybrid...
In this paper a fault diagnosis approach for sensor faults in cooperative robotic manipulators involved in interaction tasks is presented. The approach is developed for a two-arm cooperative workcell, although it can be easily applied to single-manipulator systems. A bank of discrete-time model-based diagnostic observers is adopted to detect, isolate and identify failures of both sensors at the joints...
This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. Based on Lyapunov techniques will be proved that the control law guaranties tracking of the desired Cartesian trajectory along the contact plane and of a constant desired force along reciprocal direction, without force measuring. Extensive simulations with 2-DOF manipulator illustrates the...
This article presents an intelligent fuzzy rule-based approach for computing optimal set of joints torques, for manipulating a grasped object by a dexterous multi-fingered robotics hand. The intelligent approached followed here, is to let a learning fuzzy system to approximate a nonlinear force formulation for optimal contact forces. This has been achieved via following two major steps: The first...
This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity...
Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain...
The present investigation is dedicated to the study of the static balance at the tip of a planar RR robot. For this case, a configuration can be interpreted, in the static sense, as isotropic when any force applied to the robot wrist yields a small displacement which is theoretically parallel to the applied force (no matter how the force is directed on the plane). This characteristic offers many advantages...
An improved torque control method-torque/time control method is proposed. The correlation between torque and Pre-tightening force is theoretically analyzed in the bolt joint assembly procedure, from which the equation of the torque and pre-tightening force is acquired in a system of stiffness invariable. When take the slope of torque-time changing and system stiffness of joint parts into consideration,...
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