Mechanics of humanoid robot

Hashimoto, Kenji

doi:10.1080/01691864.2020.1813624

Cited by 11 publications

(8 citation statements)

References 45 publications

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“…The results in Figure 10B demonstrate that the foot with a fixed toe achieved a rotational angle of approximately 50°, whereas the foot with a passive toe achieved a significantly improved rotational angle of up to 70°. This improvement suggests enhanced mobility, potentially resulting from the reduced frictional torque and increased flexibility of the foot with the passive toe joint ( Ouezdou et al, 2005 ; Ogura et al, 2006 ; Hashimoto, 2020 ).…”

Section: Resultsmentioning

confidence: 99%

The experimental investigation of foot slip-turning motion of the musculoskeletal robot on toe joints

Nipatphonsakun,

Kawasetsu,

Hosoda

2023

Front. Robot. AI

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Owing to their complex structural design and control system, musculoskeletal robots struggle to execute complicated tasks such as turning with their limited range of motion. This study investigates the utilization of passive toe joints in the foot slip-turning motion of a musculoskeletal robot to turn on its toes with minimum movements to reach the desired angle while increasing the turning angle and its range of mobility. The different conditions of plantar intrinsic muscles (PIM) were also studied in the experiment to investigate the effect of actively controlling the stiffness of toe joints. The results show that the usage of toe joints reduced frictional torque and improved rotational angle. Meanwhile, the results of the toe-lifting angle show that the usage of PIM could contribute to preventing over-dorsiflexion of toes and possibly improving postural stability. Lastly, the results of ground reaction force show that the foot with different stiffness can affect the curve pattern. These findings contribute to the implementations of biological features and utilize them in bipedal robots to simplify their motions, and improve adaptability, regardless of their complex structure.

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Section: Resultsmentioning

confidence: 99%

The experimental investigation of foot slip-turning motion of the musculoskeletal robot on toe joints

Nipatphonsakun,

Kawasetsu,

Hosoda

2023

Front. Robot. AI

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“…However, linear actuators are used in exoskeletal robots [37] that support humans. Also, a linear actuator-driven robot has been proposed for humanoid robots [38]. Thus, the actuator can be applicable to several types of robots.…”

Section: Discussionmentioning

confidence: 99%

Fusion Hybrid Linear Actuator: Concept and Disturbance Resistance Evaluation

Nakata

Noda

2023

IEEE/ASME Trans. Mechatron.

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The response of robot actuators to various dynamic interactions during contact tasks is not trivial because there exists a tradeoff between actuator-thrust force density and back-drivability. Although hybrid actuation approaches are promising, complex transmission mechanisms are necessary to synthesize forces from heterogeneous actuators. This study presents a novel concept of a fusion hybrid linear actuator to address the fundamental problems in conventional hybrid actuation approaches. The concept embodies an integrated structure of an air cylinder and a linear motor and shares the moving spaces of the piston and moving part of the linear motor inside the compact housing of the actuator. Herein, the design strategy requirements and its structural optimization processes are discussed. A kinetic friction model of a pneumatic cylinder that considers a piston structure is proposed to improve the force characteristics during dynamic interaction. Furthermore, a quantitative benchmark test is developed to maintain the contact force constant against a load actuator, to evaluate the disturbance resistance under a wide range of target contact force conditions. The concept and performance were validated by experiments comparing the proposed hybrid actuation condition with conventional pneumatic actuation conditions.

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“…The mechanical structure design of a bipedal robot must fulfill the requirements of high stiffness, high flexibility, low inertia, and low damping [ 16 , 17 ]. As illustrated in Figure 1 , the L03 robot is designed as a kneeless bipedal walker consisting of a pair of feet, a pair of legs, and a main body frame.…”

Section: Design Overviewmentioning

confidence: 99%

“…In the realm of bipedal robots, leg design is a pivotal aspect of the overall design process. The primary goal, as highlighted in the literature, is to minimize the leg’s moment of inertia [ 16 ]. A prevalent strategy is the strategic placement of heavier drive components, such as motors and reducers, at the thigh’s base or fixed at the hip joint.…”

Section: Design Overviewmentioning

confidence: 99%

Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot

Tang,

Zhu,

Gan

et al. 2023

Biomimetics

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This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and kinematic analysis; (2) trajectory planning for the center of mass and foot landing points based on the Divergent Component of Motion (DCM), enabling lateral and forward walking capabilities for the robot; and (3) gait stability analysis through prototype experiments. The primary focus of this study is to explore the application of underactuated symmetrical designs and determine the number of motors required to achieve omnidirectional movement of a bipedal robot. Our simulation and experimental results demonstrate that L03 achieves simple walking with a stable and consistent gait. Due to its lightweight construction, low leg inertia, and straight-legged design, L03 can achieve ground perception and gentle ground contact without the need for force sensors. Compared to existing bipedal robots, L03 closely adheres to the characteristics of the linear inverted pendulum model, making it an invaluable platform for future algorithm research.

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Mechanics of humanoid robot

Cited by 11 publications

References 45 publications

The experimental investigation of foot slip-turning motion of the musculoskeletal robot on toe joints

The experimental investigation of foot slip-turning motion of the musculoskeletal robot on toe joints

Fusion Hybrid Linear Actuator: Concept and Disturbance Resistance Evaluation

Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot

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