Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders

Bagheri, Mostafa; Ajoudani, Arash; Lee, Jinoh; Caldwell, Darwin G.; Tsagarakis, Nikos G.

doi:10.1109/icra.2015.7139566

Cited by 26 publications

(19 citation statements)

References 15 publications

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“…2b. In general, this configuration yields better kinematic performance in the main dual-arm task region, as reported in [9].…”

Section: Introductionmentioning

confidence: 58%

“…4a, b represents the conventional dual-arm robot using seven-DOF arms with a parallel and a tilted shoulder, respectively (referred to as the P7 and T7 models, respectively). The tilted angle of the T7 model was determined on the basis of optimization results reported by Bagheri et al [9]. They proposed an optimal range of 20 • -25 • for the tilting angle upward and 60 • -65 • for it forward.…”

Section: Kinematic Performance Analysismentioning

confidence: 99%

“…The product of the total and common workspace area (abbreviated as PTCWA) is a kinematic performance index used to optimize the structure of dual-arm robots. The PTCWA can be used to find a structure that balances single-and dual-arm task performance [9]. However, the PTCWA is not a dimensionless factor and thus cannot be directly applied to compare the performance of kinematic models with different structures, such as the number of degrees of freedom.…”

Section: Workpace Analysismentioning

confidence: 99%

“…This is due to the parallel alignment of the first shoulder joint. Bagheri et al pointed out that the alignment of the first shoulder joint significantly affects the kinematical performance of the manipulator and proposed an optimal configuration of the shoulder joint [9]. In their solution, the axes of the first shoulder joints do not coincide, but intersect with a tilting angle of a certain magnitude.…”

Section: Introductionmentioning

confidence: 97%

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Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms

Lee

Park

et al. 2017

Intel Serv Robotics

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From the perspective of kinematics, dual-arm manipulation in robots differs from single-arm manipulation in that it requires high dexterity in a specific region of the manipulator's workspace. This feature has motivated research on the specialized design of manipulators for dualarm robots. These recently introduced robots often utilize a shoulder structure with a tilted angle of some magnitude. The tilted shoulder yields better kinematic performance for dual-arm manipulation, such as a wider common workspace for each arm. However, this method tends to reduce total workspace volume, which results in lower kinematic performance for single-arm tasks in the outer region of the workspace. To overcome this trade-off, the authors of this study propose a design for a dual-arm robot with a biologically inspired four degree-of-freedom shoulder mechanism. This study analyzes the kinematic performance of the proposed design and compares it with that of a conventional dual-arm robot from the perspective of workspace and single-/dual-arm manipulability. The comparative analysis Electronic supplementary material The online version of this article (revealed that the proposed structure can significantly enhance single-and dual-arm kinematic performance in comparison with conventional dual-arm structures. This superior kinematic performance was verified through experiments, which showed that the proposed method required shorter settling time and trajectory-following performance than the conventional dual-arm robot.

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“…2b. In general, this configuration yields better kinematic performance in the main dual-arm task region, as reported in [9].…”

Section: Introductionmentioning

confidence: 58%

Section: Kinematic Performance Analysismentioning

confidence: 99%

Section: Workpace Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

See 2 more Smart Citations

Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms

Lee

Park

et al. 2017

Intel Serv Robotics

View full text Add to dashboard Cite

show abstract

“…A necessary condition for 22 performing the task by the robot is that the trajectories of the actor's hands (for the phase of contact) are within the workspace of the robot. The workspace of ROMEO was defined according to the robot segment size and the joint limits as proposed in [25,26]. If this condition is satisfied, when the robot is initially in the same place as the actor, the actor's motion will be easily achieved by ROMEO.…”

Section: From Imitation Results To Motion Of Robot Romeomentioning

confidence: 99%

Human to humanoid motion conversion for dual-arm manipulation tasks

Tomić¹,

Chevallereau²,

Jovanović³

et al. 2018

Robotica

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SUMMARYA conversion process for the imitation of human dual-arm motion by a humanoid robot is presented. The conversion process consists of an imitation algorithm and an algorithm for generating human-like motion of the humanoid. The desired motions in Cartesian and joint spaces, obtained from the imitation algorithm, are used to generate the human-like motion of the humanoid. The proposed conversion process improves existing techniques and is developed with the aim to enable imitating of human motion with a humanoid robot, to perform a task with and/or without contact between hands and equipment. A comparative analysis shows that our algorithm, which takes into account the situation of marker frames and the position of joint frames, ensures more precise imitation than previously proposed methods. The results of our conversion algorithm are tested on the robot ROMEO through a complex "open/close drawer" task.

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WALK‐MAN: A High‐Performance Humanoid Platform for Realistic Environments

Tsagarakis

Caldwell

Negrello

et al. 2017

Journal of Field Robotics

212

109

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In this work, we present WALK-MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high-strength capabilities, and physical sturdiness. To enable these capabilities, WALK-MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state-of-the-art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK-MAN actuation that combines customized high-performance modules with tuned torque/velocity curves and transmission elasticity for high-speed adaptation response and motion reactions to disturbances. WALK-MAN design also includes innovative design optimization features that consider the selection of kinematic structure and the placement of the actuators with the body structure to maximize the robot performance. Physical robustness is ensured with the integration of elastic transmission, proprioceptive sensing, and control. The WALK-MAN hardware was designed and built in 11 months, and the prototype of the robot was ready four months before DARPA Robotics Challenge (DRC) Finals. The motion generation of WALK-MAN is based on the unified motion-generation framework of whole-body locomotion and manipulation (termed loco-manipulation). WALK-MAN is able to execute simple loco-manipulation behaviors synthesized by combining different primitives defining the behavior of the center of gravity, the motion of the hands, legs, and head, the body attitude and posture, and the constrained body parts such as joint limits and contacts. The motion-generation framework including the specific motion modules and software architecture is discussed in detail. A rich perception system allows the robot to perceive and generate 3D representations of the environment as well as detect contacts and sense physical interaction force and moments. The operator station that pilots use to control the robot provides a rich pilot interface with different control modes and a number of teleoperated or semiautonomous command features. The capability of the robot and the performance of the individual motion control and perception modules were validated during the DRC in which the robot was able to demonstrate exceptional physical resilience and execute some of the tasks during the competition

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Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders

Cited by 26 publications

References 15 publications

Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms

Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms

Human to humanoid motion conversion for dual-arm manipulation tasks

WALK‐MAN: A High‐Performance Humanoid Platform for Realistic Environments

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