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For a serial manipulator with non-spherical wrist, the kinematics of the wrist's position and orientation is not decoupled and the singularity analysis is very difficult. In this paper, a method is proposed to analytically identify the singularity configurations for a class of serial manipulators with non-spherical wrist. Firstly, the configuration characteristics of typical serial manipulators are...
Higher speed and accuracy in object manipulation have recently been required in manufacturing and factory automation (FA) lines. In this paper, we propose a method of using a high-speed robot hand to manipulate connectors and cables, whose coordinates are detected by a high-speed visual-servoing system. This research on robot manipulation will be productive from a practical viewpoint and will lead...
The objective was to generate human-like social motion in a human-looking humanoid robot following the biomimetic approach. We thought that the robot's motion should be human-like for their social acceptance and it could be done if and only if (i) the robot appearance is made human-like, and (ii) human kinematics is implemented in the robot to generate the motion. To address the above, we introduced...
Learning by imitation is becoming increasingly important for teaching humanoid robots new skills. The simplest form of imitation is behavior copying in which the robot is minimizing the difference between its perceived motion and that of the imitated agent. One problem that must be solved even in this simplest of all imitation tasks is calculating the learner's pose corresponding to the perceived...
Amputees wearing a transradial prosthesis are compelled to perform compensatory movements of the shoulder, elbow and trunk, while reaching objects in the environment, due to the lack of degrees of freedom (DoF) in their artificial arm. These unnatural movements yield to articulation injuries in the long run, which could be reduced/eliminated by adding an articulated compliant wrist. Several passive...
Endotracheal Intubation (ETI) is a common airway procedure used to connect the larynx and the lungs through the windpipe of patients under emergency situations. The process is carried out by a laryngoscope inserted into the mouth, and helps doctors in viewing the glottis and inserting the tube. In 2012, we developed a humanoid robot for ETI training, called WKA-5R, which was able to simulate various...
The paper proposes an integrated approach to solve the inverse kinematics of the 7-DOF humanoid arm with offset wrist. Firstly, according to the arm's configuration, the closed-form solutions of inverse kinematics for 7-DOFs arms are developed based on the reverse coordinates method. Secondly, an integrated inverse kinematic approach, termed the modified gradient projection method, is proposed on...
When abundant humanoid robots are springing up in many application fields, the anthropomorphic arm, which is the most important part of the humanoid robot, is facing numerous complicated manipulation tasks. In order to address two diversity issues of anthropomorphic arm platforms and manipulation tasks, a unified "language", a novel task-motion planning method, for different anthropomorphic...
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