Sensor system of a small biped entertainment robot

Ishida, Tatsuzo; Kuroki, Yoshio

doi:10.1163/1568553042674699

Cited by 5 publications

(5 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The sensor system of biped robots was presented in [154][155][156]. Control of walking robots heavily depends on the progress in the field of mechatronics and the development of computer technology.…”

Section: Sensor Systemsmentioning

confidence: 99%

“…Therefore, it is recommended to install the tactile sensor at specific locations to avoid trapping human hands/fingers in-between the robot joints. For example, [156] has used 19 tactile sensors placed inside the main elements of the robot. If these sensors are activated, then the biped robot attempts to release the joint forces.…”

mentioning

confidence: 99%

“…This sensor system is necessary for online communication with humans where a multi-microphone system is built. For example, the solution [156] installed seven audio sensors (microphones) on the head of the biped mechanism. •…”

mentioning

confidence: 99%

See 2 more Smart Citations

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

View full text Add to dashboard Cite

Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots’ propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.

show abstract

Section: Sensor Systemsmentioning

confidence: 99%

mentioning

confidence: 99%

See 1 more Smart Citation

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…For entertainment robots, a safe physical contact is still a non-trivial problem for improving the humanmachine interaction. [1][2][3] For bionic legged robots, the discrete gaits for locomotion periodically generate contacts with ground. 4,5 Either industrial robots, entertainment robots or bionic legged robots will face the common problem of contact constraints with humans or external unstructured environments.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators

Wei

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

A robot system would inevitably cause unpredictable collisions in an unknown or unstructured environment. In this paper, the controllability conditions of a general robot system with compliant actuators are proposed to judge and assess the contact constraints based on Port-based Hamiltonian. In order to satisfy the proposed controllability conditions, one fuzzy coordinated control method inspired from the pathfinding of a blind or normal person in dark environment is proposed to deal with the problem of contact constraint. This method achieves velocity-torque combined control without using force or vision sensors compared with conventional methods. Finally, the experiments validate the feasibility of the controllability conditions to deal with contact constraint problems. The results show that the fuzzy coordinated controller can work more efficiently and effectively to detect and respond to contact constraints compared with the proposed proportional control.

show abstract

“…The capabilities of humanoid robots have been enhanced dramatically thanks to the advancement of the technologies and theories, in terms of the issues of design, control, modeling and manufacturing for humanoid robots [1][2][3]. It is rational to expect that the era human beings and humanoid robots can share the same environment simultaneously will come in the future.…”

Section: Introductionmentioning

confidence: 99%

Classification of Standing States for the Humanoid Robot SJTU-HR1

Yang

Gao

Jin

2009

Int J of Soc Robotics

View full text Add to dashboard Cite

The humanoid robot platform, SJTU-HR1, is developed to function within the human-centered environment, which means that it is necessary to study the human-robot interaction, robot-robot interaction, robot-environment interaction, and robot self-interaction. To solve the issue of robot-environment interaction and robot self-interaction, this study presents the state classification from the topological point of view for the SJTU-HR1, particularly the standing states. The generalized function set (G F set for short) theory is exploited to achieve the characteristics of the end-effectors of interest of the SJTU-HR1 for each specific standing state, which can provide deeper insight into the capabilities of the SJTU-HR1. One application example is given to show that the proposed methodology can simplify and clarity the complicated state planning issue for humanoid robots. Moreover, the standing states, including robot-environment interaction and robot self-interaction, can be described using the meaningful notations sufficiently. Although we have focused on the application of the G F set theory on the humanoid robot platform SJTU-HR1, this methodology can also be applied to other biped robots and quadruped robots.

show abstract

Sensor system of a small biped entertainment robot

Cited by 5 publications

References 7 publications

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators

Classification of Standing States for the Humanoid Robot SJTU-HR1

Contact Info

Product

Resources

About