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(I)~(III) shows sequential photographs of the actual robot's locomotion during experiments on groping the wall in front of the robot, groping the wall to it's right side and avoiding an obstacle. The experimental results reveal that the robot's arm and legs move in a smooth and controlled motion to perform tasks in groping locomotion.
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The formulation and optimization of joint trajectories for a humanoid robot's manipulator is quite different from standard robots' because of the complexity of its kinematics and dynamics. This paper presents a formulation to solve kinematics problems to generate trajectory for a 21-DOF humanoid robot in the groping-locomotion method. The groping-l...
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This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an o...
Citations
... In this report, we present humanoid robot Bonten-Maru II motions to touch and grasp object, correcting its locomotion direction, avoiding obstacle and crawling motion. We designed the motion planning which consists of kinematics solutions and interpolation formulations to generate trajectory to each joint in the humanoid robot body to attain motions planned in this research [8]. Following Fig. 1 shows animations of the robot movement in the motion planning of this research. ...
This report presents the development of basic human-like motions of a 21-DOF humanoid robot Bonten-Maru II with the purpose for application in built-for-human environment and to solve issues of human-robot interaction. We design motion planning consists of kinematics solutions and interpolation formulations to generate trajectory for humanoid robot to attain motions of grasping a wall surface and correct its locomotion direction, avoiding high and low obstacles, and crawling on floor. This research also proposed a basic interaction method for humanoid robot to interact with its environment called “groping-locomotion method.” This method was applied in the robot control system. We present experimental results utilizing humanoid robot Bonten-Maru II for each motion planning. Experimental results reveal that the 21-DOF humanoid robot Bonten-Maru II is capable to satisfy basic motions planned in this research. In addition, autonomous motions of the robot's manipulators are managed to demonstrate.
... To develop a sufficient theoretical strategy in humanoid navigation by generating efficient gait pattern trajectory, we performed kinematical analysis of joint trajectories for 3-dof arms and 6-dof legs to simplify the formulations to generate the trajectory of articulated humanoid's manipulators. This analysis is taking reference of the previously proposed kinematical solutions for Bonten-Maru II (Hanafiah, Y. et al., 2006). ...
This report presents a basic contact interaction-based navigation strategy for a biped humanoid robot to support current visual-based navigation. The robot's arms were equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization tasks, correction of locomotion direction tasks and obstacle avoidance tasks. Priority was given to right-side direction to navigate the robot locomotion. Analysis of trajectory generation, biped gait pattern, and biped walking characteristics was performed to define an efficient navigation strategy in a biped walking humanoid robot. The proposed algorithm is evaluated in an experiment with a 21-dofs humanoid robot operating in a room with walls and obstacles. The experimental results reveal good robot performance when recognizing objects by touching, grasping, and continuously generating suitable trajectories to correct direction and avoid collisions.
... The algorithm flowchart is shown in Fig. 3. The algorithm comprises formulations of kinematics solutions, interpolation of manipulator end-effector, and force-position control in order to generate trajectory for each robotic joint [16]. ...
... During the grasping process, the position of the arm's end-effector is defined by performing kinematical calculations [16]. Whereas, the grasping movement of the end-effector on the object surface is controlled using force-position formulations based on force information obtained by the force sensor. ...
This paper presents the development of a contact interaction-based navigation strategy for a biped humanoid robot with the aim of supporting current visual-based navigation. The robot arms are equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization, correction of locomotion direction and obstacle avoidance. Priority is given to right-side direction to navigate the robot locomotion in conjunction with a strategy to avoid obstacles. The proposed algorithm is evaluated in an experiment with a humanoid robot operating in a room with walls and obstacles. The experimental results reveal good performance of the robot when recognizing objects by touching and grasping, continuously generating suitable trajectory to correct locomotion direction and avoiding collisions.
... This method systematically establishes a coordinate system for each link of an articulated chain. The trajectory of the manipulators is normally defined by solving inverse kinematics problems [9], while the manipulator's speed can be defined by employing polynomial equations in interpolation of the manipulator's end-effectors position. The force to rotate each joint is normally supplied by a DC motor that transmits torque to a drive gear at the joints using a belt, chain, or gear. ...
This paper presents a design of a 21-DOF humanoid robot from the perspective of DOFs and joint angle range characteristic to identify elements that provide flexibility to attain human-like motion. Description and correlation of physical structure flexibility between human and humanoid robot to perform motion is presented to clarify the elements. The investigation is focusing in joint structure design, configuration of DOF and joint rotation range of 21-DOF humanoid robot Bonten-Maru II. Experiments utilizing this robot were conducted, with results indicates effective elements to attain flexibility in human-like motion
... In the contact interaction-based navigation system, to perform self-localization and obstacle avoidance tasks, we create an algorithm in the humanoid robot's control system to control the motions of the robot's arms and legs based on information obtained from grasping process. The algorithm comprises formulations to generate trajectory for each robotic joint (Hanafiah, Y., Yamano, M., Nasu, Y., and Ohka, M., 2005). The formulations involve solutions to forward and inverse kinematics problems, interpolation of the manipulator's end-effector, and force-position control formulations. ...
This paper presents the development of a basic contact interaction-based navigation system for biped humanoid robot. We utilized a 21-dof humanoid robot Bonten-Maru II in our study and experiments. The robot arms are equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consists of searching, self-localization, correction of locomotion direction, obstacle avoidance, and object manipulation tasks. We applied contact interaction method, whereby humanoid robot grasp on object surface to define self-localization, and then autonomously correcting locomotion direction and avoiding obstacles. For object manipulation, newly developed optical three-axis tactile sensor is mounted on a robotic finger for evaluation purpose. Experiments with Bonten-Maru II to perform self-localization and obstacle avoidance tasks, and the robotic finger mounted with tactile sensor system to perform object manipulation are conducted. The experimental results reveal good robot performance when recognizing object and avoiding collisions in navigation tasks, and good performance to realize and manipulate objects in object manipulation tasks.
... However, the more complex the manipulator's joint structure, the more complicated and time-consuming these methods become. In this paper, we propose and implement a simplified approach to solving inverse kinematics problems by classifying the robot's joints into several groups of joint coordinate frames at the robot's manipulator [11]. To describe translation and rotational relationship between adjacent joint links, we employ a matrix method proposed by Denavit-Hartenberg [12], which systematically establishes a coordinate system for each link of an articulated chain in the robot body. ...
... Referring to the rotation direction of θ 3arm , if sinθ 3arm is a positive value, it describes the inverse kinematics for the right arm, while if it is a negative value it described the left arm. Consequently, θ 3arm is used to define θ 2arm , as shown in (9) ~ (13), where newly polar coordinates are defined in (11). Consequently, θ 1arm can be defined as in (14). ...
This report presents development of basic human-like motions using a research prototype 21-dof humanoid robot called Bonten-Maru II. The aim is to create suitable motion trajectories towards application of humanoid robots in real environments. Kinematical analysis of 3-dof arm and 6-dof leg were presented to generate trajectory in the robot's arms and legs. To realize human-like motions, we proposed navigation method based on contact interaction for humanoid robot to recognize its surrounding by grasping object surface and then correcting its locomotion direction. We also proposed methods to avoid high and low obstacles. Finally, we present crawling motions which can be applied during operation in emergency sites. The experimental results utilizing Bonten-Maru II revealed good performance of the robot when performing human-like motions in the proposed navigation method, obstacle avoidance, and crawling motions.
Object manipulation is one crucial task in robotics. This chapter presents a precision control scheme of a multi-fingered
humanoid robot arm based on tactile sensing information to perform object manipulation tasks. We developed a novel optical
three-axis tactile sensor system mounted on the fingertips of a humanoid robot to enhance its ability to recognize and manipulate
objects. This tactile sensor can acquire normal and shearing forces. Trajectory generation based on kinematical solutions
at the arm and fingers, combined with control system structure and a sensing principle of a tactile sensor system, is presented.
Object manipulation experiments are conducted using hard and soft objects. Experimental results revealed that the proposed
control scheme enables the finger system to recognize low force interactions based on tactile sensing information to grasp
the object surface and manipulate it without damaging the object or the sensor elements.
KeywordsTactile sensing-based control algorithm-Object manipulation-Optical three-axis tactile sensor-Multi-fingered humanoid robot arm
This paper presents analysis to define efficient biped walking locomotion for contribution to the research in humanoid robot navigation. We focus in improvement of walking speed without changing the reduction-ratio at the joint-motor system. Three parameters are considered: step length, hip-joint height and duty-ratio. Analysis based on simulations and experiments utilizing biped humanoid robot Bonten-Maru II were conducted. In addition, analysis to define efficient joint trajectories and gait pattern were also performed. The simulation analysis and experimental results with Bonten-Maru II reveals good performance in biped locomotion to improve walking speed and travel distance of the humanoid robot compared with current walking condition.
This paper presents the development of new Humanoid Robot Control Architecture (HRCA) platform based on Common Object Request Broker Architecture (CORBA) in a developmental biped humanoid robot for real‐time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA) to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten‐Maru. Additionally, we have developed a user‐ friendly Virtual Reality (VR) user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD) for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.
This paper presents analysis of biped locomotion based on human's walking characteristics to improve walking speed in humanoid robotics. The analysis is focus on improvement of walking speed without changing reduction-ratio at the robot's joint-motor system. Three parameters are considered: step length, hip-joint height and duty-ratio. We use humanoid robot Bonten-Maru II as an analysis platform. Analysis based on simulations and experiments are conducted. In addition, formulations to define efficient gait pattern are also presented. The simulation analysis and experimental results with Bonten-Maru II reveals good performance in biped locomotion to improve walking speed and travel distance of the humanoid robot without changing reduction-ratio at joint-motor system.
