Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization

Yao, Ping; Li, Tao; Luo, Minzhou; Zhang, Qingqing; Tan, Zhiying

doi:10.1142/s0219843617500104

Cited by 5 publications

(2 citation statements)

References 20 publications

(13 reference statements)

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“…However, it's not clear whether the proposed new humanoid torso based on a special 6-DOFs mechanism could achieve continuous typical motion actions in Cartesian space. As shown in Figure 5, workspace of the proposed torso mechanism has been analyzed using Monte Carlo method 11,12 based on forward kinematics. Monte Carlo method has no limits to joint types and ranges of joint variables; it uses y i ¼ y i min þ ðy i max À y i min Þ Â RandðÞ in [Àp, p] to generate values of joints, where RandðÞ is a uniform pseudo-random number.…”

Section: Forward Kinematics and Workpace Analysismentioning

confidence: 99%

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

Yao

Luo

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents a bioinspired humanoid torso which is supposed to be used as the trunk for humanoid robots. It can effectively mimic motions of human torso with high degrees of freedom, and it has high stiffness and easy-to-control features. The main structure of the proposed torso is a six-degree-of-freedom serial mechanism with twist angles that are not equal to 0, p/2 or p and zero-length links. Forward kinematic and workspace analysis based on Denavit-Hartenberg and Monte Carlo methods have been formulated to analyze the feasibility of this structure. In addition, a hybrid method combing the large-scale regularity search capabilities of chaos optimization and the quasi-Newton method with relatively high-speed convergence has been proposed to analyze inverse kinematics. Simulations are carried out with the aim to validate the correctness and efficiency of this method for studying the inverse kinematics.

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Section: Forward Kinematics and Workpace Analysismentioning

confidence: 99%

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

Yao

Luo

et al. 2018

International Journal of Advanced Robotic Systems

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“…Thus, recent humanoid robot designs have started introducing torso motion control [10] or one or more degrees of mobility in the torso to enhance performance. These designs range from simple serial mechanisms [11][12][13] to parallel architectures [14][15][16], which have demonstrated how much torso mobility can improve robot performance.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism

2021

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This paper introduces a novel kinematic model for a tendon-driven compliant torso mechanism for humanoid robots, which describes the complex behaviour of a system characterised by the interaction of a complex compliant element with rigid bodies and actuation tendons. Inspired by a human spine, the proposed mechanism is based on a flexible backbone whose shape is controlled by two pairs of antagonistic tendons. First, the structure is analysed to identify the main modes of motion. Then, a constant curvature kinematic model is extended to describe the behaviour of the torso mechanism under examination, which includes axial elongation/compression and torsion in addition to the main bending motion. A linearised stiffness model is also formulated to estimate the static response of the backbone. The novel model is used to evaluate the workspace of an example mechanical design, and then it is mapped onto a controller to validate the results with an experimental test on a prototype. By replacing a previous approximated model calibrated on experimental data, this kinematic model improves the accuracy and efficiency of the torso mechanism and enables the performance evaluation of the robot over the reachable workspace, to ensure that the tendon-driven architecture operates within its wrench-closure workspace.

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