DOCSLIB.ORG

Hardware Improvement of Cybernetic Human HRP-4C for Entertainment Use

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text

Load more

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems September 25-30, 2011. San Francisco, CA, USA Hardware Improvement of Cybernetic Human HRP-4C for Entertainment Use Kenji KANEKO, Fumio KANEHIRO, Mitsuharu MORISAWA, Tokuo TSUJI, Kanako MIURA, Shin’ichiro NAKAOKA, Shuuji KAJITA and Kazuhito YOKOI Abstract — Hardware improvement of cybernetic human HRP-4C for entertainment is presented in this paper. We coined the word “Cybernetic Human” to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform–4 (Cybernetic human). Its joints and dimensions conform to average values of young Japanese females and HRP-4C looks very human-like. We have made HRP-4C present in several events to search for a possibility of use in the entertainment industry. Based on feedback from our experience, we improved its hardware. The new hand, the new foot with active toe joint, and the new eye with camera are introduced. 1. Introduction Up to now, several bipedal humanoid robots [1-17] have been developed. Currently, research on bipedal humanoid robots is one of the most exciting topics. It is no Fig. 1. Cybernetic human HRP-4C improved with exaggeration to say that the great success of HONDA new hands, an active toe joint, and a new eye with camera humanoid robot triggered the world’s research on humanoid robots [1-4]. However, the applications achieved by the current bipedal humanoid robots have been limited. so-called 3D jobs (dirty, dangerous and demanding), we Especially, those of human-size humanoid. developed HRP-3 equipped with dust-proof and drip-proof New ASIMO (Advanced Step in Innovative MObility) capabilities as well as precise motion [7]. Although HRP-3 was revealed in 2004 while the first ASIMO made it’s debut was developed as the succeeding model of HRP-2, the use of in 2000. New ASIMO showed us the capability of running at HRP-3 is limited and HRP-3 has been also used as a 6 [km/h] on December 13, 2005 [4]. New ASIMO as well as platform of R&D in our institute. the first ASIMO is presented in events, gives us a high-tech Korea Advanced Institute of Science and Technology stage show highlighting ASIMO’s unique capabilities, and (KAIST) also developed several humanoid robots. The latest goes on TV as an advertisement ambassador. model: HUBO2 (KHR-4) has a capability of running at 3.24 We have developed several HRP series humanoid robots [km/h] [8]. About 8 units have been used as a platform of with the collaboration of private companies. HRP-2 was R&D internationally so far. developed in 2002 to show the possibility of working From this introduction, it is so hard to figure out the humanoid robots [5, 6]. As a humanoid robotics platform for practical application of current bipedal humanoid robots. R&D, about 20 HRP-2’s have been put into use Though they have been used as a platform of R&D, and internationally so far. To show the potential for use in the have played as an advertisement ambassador showing the state of the art of each institute. To overcome this situation, Manuscript submitted to 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. we thought that one practical application for them would be K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka, S. the entertainment industry, such as exhibitions and fashion Kajita, and K. Yokoi are with Humanoid Research Group, Intelligent shows, provided the robots can move very realistically like Systems Research Institute, National Institute of Advanced Industrial humans. For this reason, we developed HRP-4C [9] and Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan (e-mail: {k.kaneko, f-kanehiro, m.morisawa, made HRP-4C to present in several events to search for a kanako.miura, s.nakaoka, s.kajita, kazuhito.yokoi } @aist.go.jp). possibility of use in the entertainment industry [18]. Based T. Tsuji is with Vision and Manipulation Research Group, on our experience in demonstrating at various events, we Intelligent Systems Research Institute, AIST, 1-1-1 Umezono, improved the hardware of HRP-4C (see Fig. 1). Tsukuba, Ibaraki 305-8568, Japan (e-mail: [email protected]). 978-1-61284-455-8/11/$26.00 ©2011 IEEE 4392 The rest of this paper is organized as follows; after another exception of deformation policy 1), because of the looking back on the design concepts and principal development delay. specification of HRP-4C in Section 2, we introduce the The principal specifications of HRP-4C, which was first overview of the events in which HRP-4C was presented in released to the press on March 16, 2009, are as follows. Section 3. We present the new hand, the new foot with toe HRP-4C is 1580 [mm] high and has 8-DOF face, 3-DOF joint, and the new eye, which have been improved from the neck, 6-DOF for each arm, 2-DOF for each hand, 3-DOF original. We examine these modifications in Sections 4, 5 waist, and 6-DOF for each leg, no toe joints, and 42-DOF in and 6 respectively. total. 2. Design Concepts of HRP-4C 3. Trials of HRP-4C Since applications in the entertainment industry such as a The HRP-4C has presented in several events in search of fashion model or the master of ceremony are leading a possibility of use in the entertainment industry. Fig. 2 candidates for practical application of current bipedal shows some examples of events with HRP-4C. humanoid robots, we set the design concepts of HRP-4C as HRP-4C was first presented on the stage of a fashion follows when we developed it. show: the 8th Japan Fashion Week in Tokyo (JFW in Tokyo) which opened on March 23, 2009. The role of Design concepts: HRP-4C was master of ceremonies (MC) in the special stage A) Capability of bipedal walking named “SHINMAI Creator’s Project”. HRP-4C walked (see B) Realistic figure of an average young Japanese Fig. 2(a)), bowed and made a speech about one minute long. female Then HRP-4C turned and walked off stage. C) Configuration to imitate human-like motion In 2009 YUMI KATSURA Grand Collection in Osaka With regard to the design concept B), we referred to the (July 22, 2009), HRP-4C made the first professional catwalk anthropometry database of Japanese 1997-1998 [19], in appearance. HRP-4C wore a wedding dress made by the which the average is recorded. The data not recorded in the designer: Ms. Yumi KATSURA who is a leader of wedding database [19] is obtained by measuring a commercially dress design, as shown in Fig. 2(b). HRP-4C walked available skeleton [20]. smoothly up and down about 17 [m] each way on the In the process of the mechanical design, the principal catwalk, which was about 25 [m] long, and 6[m] wide. items were selected from among the database at designing HRP-4C then struck various poses, and gazed sidelong at the HRP-4C. The selected items were deformed as follows. delighted audience with a short speech. HRP-4C acted in a one man show in the Digital Contents Deformation policies: Expo 2009 (Oct. 22-25, 2009) as shown in Fig. 2(c). Using 1) Link length and breadth of HRP-4C are deformed the motion editor software [21], we successfully made a 5 to be from 90% to 110% of the average dimension minute motion for HRP-4C using a human actress’s motion of a young Japanese female. created by SAM who is a choreographer. HRP-4C didn’t 2) Circumference is deformed to less than 110% of the move her legs, but the way she moves her arms, head and average dimension of a young Japanese female. facial muscles were sufficiently human-like, and was also But the ankle joint height and foot size of HRP-4C are able to tell jokes. exceptions of deformation policy 1) in consideration of the In the events held in 2009 as shown in Fig. 2, we effect on putting on shoes. The dimension of hand was also received several opinions from spectators. One of them (a) Opening address (b) Fashion model (c) Actress SHINMAI Creator’s Project 2009 YUMI KATSURA DIGITAL CONTENT EXPO 2009 JFW in Tokyo Grand Collection in Osaka (Oct. 22-25, 2009) (March 23, 2009) (July 22, 2009) Fig. 2. Examples of events with HRP-4C 4393 Fig. 3. Target specifications of new hand Fig. 4. Principal dimensions of new hand based on average of young Japanese female [19, 22, 23] (Note: These values slightly change due to the condition of the elastic cover.) (Note: Draw line doesn't show the strict outline of Japanese female hand shape.) mentioned that the hand of HRP-4C was out of proportion to follows. its body. Since the dimensions of HRP-4C are set to averages of young Japanese females except for the hand as D1) Lighter hand mentioned above, we decided that this opinion was worth D2) Capability of creating dance performance motion taking into consideration. We then developed the new hand It is ideal for entertainment use to imitate human-like as presented in Section 4. Another opinion from spectators hand motion as close as possible. A multi-DOF fingered was that the motion of HRP-4C was not natural. Although hand is necessary to achieve this. However, there were too there were numerous causes, we thought things could be many hurdles to realize this during the initial development improved by adjusting the joint configuration of HRP-4C to of the previous hand.
Recommended publications
  • Science Fiction in Argentina: Technologies of the Text in A

    Science Fiction in Argentina: Technologies of the Text in A

    Revised Pages Science Fiction in Argentina Revised Pages DIGITALCULTUREBOOKS, an imprint of the University of Michigan Press, is dedicated to publishing work in new media studies and the emerging field of digital humanities. Revised Pages Science Fiction in Argentina Technologies of the Text in a Material Multiverse Joanna Page University of Michigan Press Ann Arbor Revised Pages Copyright © 2016 by Joanna Page Some rights reserved This work is licensed under the Creative Commons Attribution- Noncommercial- No Derivative Works 3.0 United States License. To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA. Published in the United States of America by the University of Michigan Press Manufactured in the United States of America c Printed on acid- free paper 2019 2018 2017 2016 4 3 2 1 A CIP catalog record for this book is available from the British Library. Library of Congress Cataloging- in- Publication Data Names: Page, Joanna, 1974– author. Title: Science fiction in Argentina : technologies of the text in a material multiverse / Joanna Page. Description: Ann Arbor : University of Michigan Press, [2016] | Includes bibliographical references and index. Identifiers: LCCN 2015044531| ISBN 9780472073108 (hardback : acid- free paper) | ISBN 9780472053100 (paperback : acid- free paper) | ISBN 9780472121878 (e- book) Subjects: LCSH: Science fiction, Argentine— History and criticism. | Literature and technology— Argentina. | Fantasy fiction, Argentine— History and criticism. | BISAC: LITERARY CRITICISM / Science Fiction & Fantasy. | LITERARY CRITICISM / Caribbean & Latin American. Classification: LCC PQ7707.S34 P34 2016 | DDC 860.9/35882— dc23 LC record available at http://lccn.loc.gov/2015044531 http://dx.doi.org/10.3998/dcbooks.13607062.0001.001 Revised Pages To my brother, who came into this world to disrupt my neat ordering of it, a talent I now admire.
  • Robots: Everywhere Around Us [A Dream Coming True]

    Robots: Everywhere Around Us [A Dream Coming True]

    Institute of Electrical and Electronics Engineers (IEEE) Robotics & Automation Society Egypt Chapter Robots: Everywhere around us [A Dream Coming True] Prepared by: Dr. Alaa Khamis, Egypt Chapter Chair Presented by: Eng. Omar Mahmoud http://www.ras-egypt.org/ MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 1/221 Outline • IEEE RAS – Egypt Chapter MUSES_SECRET:• What ORFis- REa Project Robot? - © PAMI Research Group – University of Waterloo • What is Robotics? • Science Fiction • Science Facts • Robots Today • Robots’ Future MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 2/222 Outline • IEEE RAS – Egypt Chapter MUSES_SECRET:• What ORFis- REa Project Robot? - © PAMI Research Group – University of Waterloo • What is Robotics? • Science Fiction • Science Facts • Robots Today • Robots’ Future MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 3/223 IEEE RAS – Egypt Chapter Established in Sept. 2011 to become the meeting place of choice for the robotics and automation community in Egypt. MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 4/224 IEEE RAS – Egypt Chapter • Conferences & Workshops • Seminars & Webinars • Free Courses • Robotic Competitions MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 5/225 Conferences & Workshops MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 6/226 ICET 2012 http://landminefree.org/ http://www.icet-guc.org/2012/ MUSES_SECRET:© Dr.
  • Cybernetic Human HRP-4C: a Humanoid Robot with Human-Like Proportions

    Cybernetic Human HRP-4C: a Humanoid Robot with Human-Like Proportions

    Cybernetic Human HRP-4C: A humanoid robot with human-like proportions Shuuji KAJITA, Kenji KANEKO, Fumio KANEIRO, Kensuke HARADA, Mitsuharu MORISAWA, Shin’ichiro NAKAOKA, Kanako MIURA, Kiyoshi FUJIWARA, Ee Sian NEO, Isao HARA, Kazuhito YOKOI, Hirohisa HIRUKAWA Abstract Cybernetic human HRP-4C is a humanoid robot whose body dimensions were designed to match the average Japanese young female. In this paper, we ex- plain the aim of the development, realization of human-like shape and dimensions, research to realize human-like motion and interactions using speech recognition. 1 Introduction Cybernetics studies the dynamics of information as a common principle of com- plex systems which have goals or purposes. The systems can be machines, animals or a social systems, therefore, cybernetics is multidiciplinary from its nature. Since Norbert Wiener advocated the concept in his book in 1948[1], the term has widely spreaded into academic and pop culture. At present, cybernetics has diverged into robotics, control theory, artificial intelligence and many other research fields, how- ever, the original unified concept has not yet lost its glory. Robotics is one of the biggest streams that branched out from cybernetics, and its goal is to create a useful system by combining mechanical devices with information technology. From a practical point of view, a robot does not have to be humanoid; nevertheless we believe the concept of cybernetics can justify the research of hu- manoid robots for it can be an effective hub of multidiciplinary research. WABOT-1,
  • Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion

    Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion

    TECHNISCHE UNIVERSITÄT MÜNCHEN Lehrstuhl für Angewandte Mechanik Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion Entwurf und Realisierung eines Humanoiden Roboters für Schnelles und Autonomes Laufen Dipl.-Ing. Univ. Sebastian Lohmeier Vollständiger Abdruck der von der Fakultät für Maschinenwesen der Technischen Universität München zur Erlangung des akademischen Grades eines Doktor-Ingenieurs (Dr.-Ing.) genehmigten Dissertation. Vorsitzender: Univ.-Prof. Dr.-Ing. Udo Lindemann Prüfer der Dissertation: 1. Univ.-Prof. Dr.-Ing. habil. Heinz Ulbrich 2. Univ.-Prof. Dr.-Ing. Horst Baier Die Dissertation wurde am 2. Juni 2010 bei der Technischen Universität München eingereicht und durch die Fakultät für Maschinenwesen am 21. Oktober 2010 angenommen. Colophon The original source for this thesis was edited in GNU Emacs and aucTEX, typeset using pdfLATEX in an automated process using GNU make, and output as PDF. The document was compiled with the LATEX 2" class AMdiss (based on the KOMA-Script class scrreprt). AMdiss is part of the AMclasses bundle that was developed by the author for writing term papers, Diploma theses and dissertations at the Institute of Applied Mechanics, Technische Universität München. Photographs and CAD screenshots were processed and enhanced with THE GIMP. Most vector graphics were drawn with CorelDraw X3, exported as Encapsulated PostScript, and edited with psfrag to obtain high-quality labeling. Some smaller and text-heavy graphics (flowcharts, etc.), as well as diagrams were created using PSTricks. The plot raw data were preprocessed with Matlab. In order to use the PostScript- based LATEX packages with pdfLATEX, a toolchain based on pst-pdf and Ghostscript was used.
  • Ph. D. Thesis Stable Locomotion of Humanoid Robots Based

    Ph. D. Thesis Stable Locomotion of Humanoid Robots Based

    Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Department of System and Automation Engineering Legan´es, October 2008 i Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Signature of the board: Signature President Vocal Vocal Vocal Secretary Rating: Legan´es, de de Contents 1 Introduction 1 1.1 HistoryofRobots........................... 2 1.1.1 Industrialrobotsstory. 2 1.1.2 Servicerobots......................... 4 1.1.3 Science fiction and robots currently . 10 1.2 Walkingrobots ............................ 10 1.2.1 Outline ............................ 10 1.2.2 Themes of legged robots . 13 1.2.3 Alternative mechanisms of locomotion: Wheeled robots, tracked robots, active cords . 15 1.3 Why study legged machines? . 20 1.4 What control mechanisms do humans and animals use? . 25 1.5 What are problems of biped control? . 27 1.6 Features and applications of humanoid robots with biped loco- motion................................. 29 1.7 Objectives............................... 30 1.8 Thesiscontents ............................ 33 2 Humanoid robots 35 2.1 Human evolution to biped locomotion, intelligence and bipedalism 36 2.2 Types of researches on humanoid robots . 37 2.3 Main humanoid robot research projects . 38 2.3.1 The Humanoid Robot at Waseda University . 38 2.3.2 Hondarobots......................... 47 2.3.3 TheHRPproject....................... 51 2.4 Other humanoids . 54 2.4.1 The Johnnie project . 54 2.4.2 The Robonaut project . 55 2.4.3 The COG project .
  • Humanoid Teensize Open Platform Nimbro-OP

    Humanoid Teensize Open Platform Nimbro-OP

    Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, 2013 Humanoid TeenSize Open Platform NimbRo-OP Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke Autonomous Intelligent Systems, Computer Science, Univ. of Bonn, Germany fschwarzm, schuell1, [email protected] fpastrana, allgeuer, schreiber, [email protected] http://ais.uni-bonn.de/nimbro/OP Abstract. In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of readily available larger robots, however, severely affects the number of participants in Teen- and AdultSize and consequently the progress of research that focuses on the challenges arising with robots of larger weight and size. This paper presents the first hardware release of a low cost Humanoid TeenSize open platform for research, the first software release, and the current state of ROS-based software development. The NimbRo-OP robot was designed to be easily manufactured, assembled, repaired, and modified. It is equipped with a wide-angle camera, ample computing power, and enough torque to enable full-body motions, such as dynamic bipedal locomotion, kicking, and getting up. 1 Introduction Low-cost and easy to maintain standardized hardware platforms, such as the DARwIn-OP [1], have had a positive impact on the performance of teams in the KidSize class of the RoboCup Humanoid League. They lower the barrier for new teams to enter the league and make maintaining a soccer team with the required number of players easier. Out-of-the-box capabilities like walking and kicking allow the research groups to focus on higher-level perceptual or behavioral skills, which increases the quality of the games and, hence, the attractiveness of RoboCup for visitors and media.
  • Posthumanism in Latin American Science Fiction Between 1960-1999

    Posthumanism in Latin American Science Fiction Between 1960-1999

    University of Kentucky UKnowledge Theses and Dissertations--Hispanic Studies Hispanic Studies 2015 For the Love of Robots: Posthumanism in Latin American Science Fiction Between 1960-1999 Grace A. Martin University of Kentucky, [email protected] Right click to open a feedback form in a new tab to let us know how this document benefits ou.y Recommended Citation Martin, Grace A., "For the Love of Robots: Posthumanism in Latin American Science Fiction Between 1960-1999" (2015). Theses and Dissertations--Hispanic Studies. 21. https://uknowledge.uky.edu/hisp_etds/21 This Doctoral Dissertation is brought to you for free and open access by the Hispanic Studies at UKnowledge. It has been accepted for inclusion in Theses and Dissertations--Hispanic Studies by an authorized administrator of UKnowledge. For more information, please contact [email protected]. STUDENT AGREEMENT: I represent that my thesis or dissertation and abstract are my original work. Proper attribution has been given to all outside sources. I understand that I am solely responsible for obtaining any needed copyright permissions. I have obtained needed written permission statement(s) from the owner(s) of each third-party copyrighted matter to be included in my work, allowing electronic distribution (if such use is not permitted by the fair use doctrine) which will be submitted to UKnowledge as Additional File. I hereby grant to The University of Kentucky and its agents the irrevocable, non-exclusive, and royalty-free license to archive and make accessible my work in whole or in part in all forms of media, now or hereafter known. I agree that the document mentioned above may be made available immediately for worldwide access unless an embargo applies.
  • Assistive Humanoid Robot MARKO: Development of the Neck Mechanism

    Assistive Humanoid Robot MARKO: Development of the Neck Mechanism

    MATEC Web of Conferences 121, 08005 (2017) DOI: 10.1051/ matecconf/201712108005 MSE 2017 Assistive humanoid robot MARKO: development of the neck mechanism Marko Penčić1,*, Maja Čavić1, Srđan Savić1, Milan Rackov1, Branislav Borovac1, and Zhenli Lu2 1Faculty of Technical Sciences, University of Novi Sad, TrgDositejaObradovića 6, 21000 Novi Sad, Serbia 2School of Electrical Engineering and Automation, Changshu Institute of Technology, Hushan Road 99, 215500 Changshu, People's Republic of China Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.
  • Practical Experiment of Balancing for a Hopping Humanoid Biped Against Various Disturbances

    Practical Experiment of Balancing for a Hopping Humanoid Biped Against Various Disturbances

    The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Practical Experiment of Balancing for a Hopping Humanoid Biped against Various Disturbances Baek-Kyu Cho and Jun-Ho Oh, Member, IEEE Abstract— This paper discusses balancing for a hopping the stability due to unexpected disturbance such as pushing by humanoid biped against various disturbances. Contrary to other human. The stabilization method for disturbance of the studies, the present work focuses on the practical experiment with humanoid biped can be classified into three strategies, which a real humanoid biped, HUBO2. Also, hopping is focused on are ankle torque strategy, reactive momentum strategy, and among various types of locomotion since hopping is simple foot placement strategy [5][6] (Figure 1). The ankle torque movement but more dynamic rather than walking. Two control strategies are proposed according to the magnitude of the strategy is to control for the zero momentum point (ZMP) to be disturbances. The one is the posture balance control for small maintained within the supporting polygon using an additional disturbance, which uses the ankle torque of the stance leg. The torque of ankle actuator of a stance leg, when the disturbance is other is to use the posture balancing control and the landing applied to the humanoid biped. If the disturbance is grown, it is position control together for large disturbance. The landing impossible to maintain stability with only the ankle torque. At position controller changes the landing position of the swing foot to maintain stability. The closed form solution of the landing this case, the reactive momentum generated by movement of position controller is addressed with the simplified model.
  • Generation of the Whole-Body Motion for Humanoid Robots with the Complete Dynamics Oscar Efrain Ramos Ponce

    Generation of the Whole-Body Motion for Humanoid Robots with the Complete Dynamics Oscar Efrain Ramos Ponce

    Generation of the whole-body motion for humanoid robots with the complete dynamics Oscar Efrain Ramos Ponce To cite this version: Oscar Efrain Ramos Ponce. Generation of the whole-body motion for humanoid robots with the complete dynamics. Robotics [cs.RO]. Universite Toulouse III Paul Sabatier, 2014. English. tel- 01134313 HAL Id: tel-01134313 https://tel.archives-ouvertes.fr/tel-01134313 Submitted on 23 Mar 2015 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Christine CHEVALLEREAU: Directeur de Recherche, École Centrale de Nantes, France Francesco NORI: Researcher, Italian Institute of Technology, Italy Patrick DANÈS: Professeur des Universités, Université de Toulouse III, France Ludovic RIGHETTI: Researcher, Max-Plank-Institute for Intelligent Systems, Germany Nicolas MANSARD: Chargé de Recherche, LAAS-CNRS, France Philippe SOUÈRES: Directeur de recherche, LAAS-CNRS, France Yuval TASSA: Researcher, University of Washington, USA Abstract This thesis aims at providing a solution to the problem of motion generation for humanoid robots. The proposed framework generates whole-body motion using the complete robot dy- namics in the task space satisfying contact constraints. This approach is known as operational- space inverse-dynamics control. The specification of the movements is done through objectives in the task space, and the high redundancy of the system is handled with a prioritized stack of tasks where lower priority tasks are only achieved if they do not interfere with higher priority ones.
  • Design of Android Type Humanoid Robot Albert HUBO€

    Design of Android Type Humanoid Robot Albert HUBO€

    Design of Android type Humanoid Robot Albert HUBO Jun-Ho Oh David Hanson Won-Sup Kim Il Young Han Jung-Yup Kim Ill-Woo Park Mechanical Division of Mechanical Mechanical Mechanical Engineering Industrial Engineering Engineering Engineering Design Korea Advanced Hanson Robotics Korea Advanced Korea Advanced Korea Advanced Institute of Inc Ewha Womans Institute of Science Institute of Science Institute of Science Science and University and Technology and Technology and Technology Technology Daejeon, Korea Dallas, TX, USA Seoul, Korea Daejeon, Korea Daejeon, Korea Daejeon, Korea [email protected] David@HansonRo kimws@ewha. [email protected]. [email protected]. [email protected] botics.com ac.kr kr ac.kr ist.ac.kr Abstract incompletely. But, the combination of these two factors To celebrate the 100th anniversary of the announcement brought an unexpected result from the mutual effect. of the special relativity theory of Albert Einstein, KAIST The body of Albert HUBO is based on humanoid robot HUBO team and hanson robotics team developed android ‘HUBO’ introduced in 2004[5]. HUBO, the human scale type humanoid robot Albert HUBO which may be the humanoid robot platform with simple structure, can bi-pad world’s first expressive human face on a walking biped walking and independent self stabilize controlling. The head robot. The Albert HUBO adopts the techniques of the of Albert HUBO is made by hanson robotics team and the HUBO design for Albert HUBO body and the techniques techniques of low power consumptions and full facial of hanson robotics for Albert HUBO’s head. Its height and expressions are based on famous, worldwide recognized, weight are 137cm and 57Kg.
  • Design and Analysis of a New Humanoid Robot Torso

    Design and Analysis of a New Humanoid Robot Torso

    International Journal of Engineering and Advanced Technology (IJEAT) ISSN: 2249 – 8958, Volume-9 Issue-1, October 2019 Design and Analysis of a New Humanoid Robot Torso Noor Zaheera Ishak, Nurul Syuhadah Khusaini, Norheliena Aziz, Sahril Kushairi, Zulkifli Mohamed Abstract: The development of humanoid robot shows great Traditional humanoid robots like ASIMO [7][8], HRP[9], significant in domestic, services and medical application. BHR[10], HUBO[11], NAO[10], and iCub[12] are generally Humanoid robot is developed to aid human daily task. However, built with a box-shaped torso with only two or three degrees the appearances of the humanoid robot affect the robot’s functionality as well as the acceptance of its usage in public. of freedom (D.O.F). For example, the torsos of the existing Hence, this study focuses on developing a new torso structure humanoid robots like ASIMO which represent the advanced design for a humanoid robot for better performance. The new level has only one rotary joint in the transverse plane [13]. humanoid robot torso design is based on the actual human-like The torso design usually has been neglected or simplified proportion and human torso structure. A 3D model of the torso due to the complex control of the multibody system and has been designed and simulated in SolidWorks software. Aluminium is used as the raw material for the humanoid robot mechanical design difficulties [14]. However, in many torso. The humanoid robot parts are fabricated via Computer aspects of human-like movement and operation, the torso of a Numerical Control (CNC) Machining and Water Jet Cutting.