使用结构集成气动电缆气缸进行跳撞运动的仿人机器人

Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Y. Kuniyoshi
{"title":"使用结构集成气动电缆气缸进行跳撞运动的仿人机器人","authors":"Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Y. Kuniyoshi","doi":"10.1109/HUMANOIDS.2017.8246948","DOIUrl":null,"url":null,"abstract":"In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-and-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-and-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force — torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force — torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-and-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Humanoid robot performing jump-and-hit motions using structure-integrated pneumatic cable cylinders\",\"authors\":\"Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Y. Kuniyoshi\",\"doi\":\"10.1109/HUMANOIDS.2017.8246948\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-and-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-and-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force — torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force — torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-and-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.\",\"PeriodicalId\":143992,\"journal\":{\"name\":\"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/HUMANOIDS.2017.8246948\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2017.8246948","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4

摘要

在本研究中,开发了一种结构集成的气动索筒作为人形机器人的执行器。为了预测机器人在即时和动态全身运动中的表现,我们测试了机器人在跳跃和撞击飞行物体(跳跃和撞击运动)中的表现。作者使用圆柱体测试了机器人手臂的运动,并模拟了跳跃运动,以确定机器人执行跳击操作的设计参数。机器人手臂的测试结果表明,一个两公斤重的手臂,由一个直径32毫米的C3圆柱体和活塞组成,在0.44秒内移动75度。对两足机器人向前跳跃运动的仿真结果表明,在关节力-扭矩比为50 mm时,其躯干顶部向前移动了3.0 m。使用圆柱体作为机器人的手臂,并在其腿上使用上述力-扭矩比的关节,开发了一个人形机器人的原型,该机器人可以在不同方向的球飞向它时执行各种跳跃和击打动作。因此,提出的设计允许机器人方便地执行即时和动态的全身运动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Humanoid robot performing jump-and-hit motions using structure-integrated pneumatic cable cylinders
In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-and-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-and-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force — torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force — torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-and-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信