The Development of a 7-DoF Humanoid Arm for Driving Using a Task-Driven Design Method

Zhu, Xin; Gergondet, Pierre; Cai, Zhaoyang; Chen, Xuechao; Yu, Zhangguo; Huang, Qiang; Kheddar, Abderrahmane

doi:10.1109/tmech.2023.3308108

IEEE/ASME Trans. Mechatron.

2024

DOI: 10.1109/tmech.2023.3308108

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The Development of a 7-DoF Humanoid Arm for Driving Using a Task-Driven Design Method

Xin Zhu,

Pierre Gergondet,

Zhaoyang Cai

et al.

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Cited by 3 publications

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End-Effectors Changer Design for Humanoids

Roux,

Izard,

Tanguy

et al. 2024

IEEE Robot. Autom. Lett.

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End-Effectors Changer Design for Humanoids

Roux,

Izard,

Tanguy

et al. 2024

IEEE Robot. Autom. Lett.

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Structural Analysis and Design of Humanoid Arms From Human Arm Reachable Workspace

Zhu,

Liu,

et al. 2025

IEEE Robot. Autom. Lett.

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A Globally Guided Dual-Arm Reactive Motion Controller for Coordinated Self-Handover in a Confined Domestic Environment

Geng,

Yang,

et al. 2024

Biomimetics

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Future humanoid robots will be widely deployed in our daily lives. Motion planning and control in an unstructured, confined, and human-centered environment utilizing dexterity and a cooperative ability of dual-arm robots is still an open issue. We propose a globally guided dual-arm reactive motion controller (GGDRC) that combines the strengths of global planning and reactive methods. In this framework, a global planner module with a prospective task horizon provides feasible guidance in a Cartesian space, and a local reactive controller module addresses real-time collision avoidance and coordinated task constraints through the exploitation of dual-arm redundancy. GGDRC extends the start-of-the-art optimization-based reactive method for motion-restricted dynamic scenarios requiring dual-arm cooperation. We design a pick–handover–place task to compare the performances of these two methods. Results demonstrate that GGDRC exhibits accurate collision avoidance precision (5 mm) and a high success rate (84.5%).

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The Development of a 7-DoF Humanoid Arm for Driving Using a Task-Driven Design Method

Cited by 3 publications

References 38 publications

End-Effectors Changer Design for Humanoids

End-Effectors Changer Design for Humanoids

Structural Analysis and Design of Humanoid Arms From Human Arm Reachable Workspace

A Globally Guided Dual-Arm Reactive Motion Controller for Coordinated Self-Handover in a Confined Domestic Environment

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