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This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
We develop a one hand drive wheelchair with original manipulation mechanism and power assist mechanism. In this investigation, first, we improve the transfer mechanism of this wheelchair. As a result, using an improved mechanism, the running resistance of the wheelchair decreased with about 1/2 to the previous one. The effects of this improvement are verified by long distance drive experiment using...
The trajectory tracking control of 3-DOF instrument is very important for master-slave control robotic-assisted minimally invasive surgery. In this paper, dynamic structure and equation of motion for the 3-DOF instrument was established to use the Euler-Lagrange method based on screw theory. A control scheme is designed based on the computed-torque controller and a RBF neural network based compensating...
Rotation is one of efficient transportation method for big or heavy object. For implementing the rolling operation to the small and light weight robot, the friction control is necessary considering its movable range, balance and actuator power. In this paper, we propose a new rolling manipulation by using whole body motion for multi-legged robot. The weight shift control is implemented considering...
Fish are noted for their excellent performances to cruise efficiently, to maneuver and to position themselves accurately. These performances are the result of complex 3D motion and the cooperation of different fins of fish. In this paper, we focus on the research of the pectoral fin, and present a novel mechanical design of flexible pectoral fin capable of 3D undulation, actuated by shape memory alloy...
This paper is aimed to develop a new actuator used in assistive knee braces for helping elderly or disabled people to recover their mobility. In the design, magneto-rheological (MR) fluids are integrated into the actuator to provide controllable torque and improve the braking control performance. With MR fluids, the actuator possesses multiple functions as motor, clutch, and brake while meeting the...
The subject of this paper is the design, analysis and control of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the centroid of the robot concentrate on the hip joint to minimize the drive torque of the hip joint. The line-walking cycle of the designed mechanism is composed of a single-support phase and a double-support phase. During the process...
The advent of the super aged society and decline in earning power makes it critical to develop technologies that can support the limitations of our human abilities. We have developed Robot Suit HAL to support human physical capabilities. A wearable robot expected to work in human society is required to have a high structural safety, with a tough and compact structure and a human outline. To achieve...
To enhance the performance of permanent magnet synchronous motor drive, a sensorless direct torque control (DTC) scheme based on adaptive backstepping control is proposed to control the torque and stator flux linkage, which use five-order permanent magnet synchronous motor (PMSM) dynamic model in the stationary frame with stator currents, rotor flux linkage and rotor speed. In the proposed scheme,...
A humanoid robot should be able to keep balance under unexpected disturbance, and can take three strategies, i.e. ankle strategy, hip strategy and step strategy, to recover balance from biomechanics research. In this paper, the relationship between limited joint torque and balance recovery strategy is analyzed using Zero moment Point Manipulability Ellipsoid. Furthermore, during balance control, the...
We adopt multi-point planning method based on cubic spline function to perform parametric design of dynamic walking. The objective of optimization is to achieve maximum ZMP stability and minimum joint driving torque, together with the combination of multi-objective genetic algorithm to optimize the gait parameters. Simulation verification has also been carried out in ADAMS and Matlab after optimization...
To solve the torque minimization problem of redundant manipulators, a bi-criteria scheme is investigated in this paper. Different from previous researches, inertia-inverse is considered corresponding to global kinetic energy minimization of robot mechanisms via this scheme. Such a scheme could be finally formulated as a general quadratic program (QP) subject to equality, inequality and bound constraints...
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