Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
Papers published on a yearly basis
Papers
More filters
••
18 Nov 2014
TL;DR: To achieve tasks that challenge the robot balance, the integration of the capture point (CP) in the operational-space inverse dynamics control framework is proposed letting the robot be able to simultaneously move its whole body satisfying other tasks.
Abstract: It is important for a humanoid robot to be able to move its body without falling down even if the target motion takes its center of mass to the limits of the support polygon. Usually the center of mass is overconstrained to keep balance, but this can make fast motion of the robot upper body or tasks that are far away from the reachable space unfeasible. To achieve these tasks that challenge the robot balance, this paper proposes the integration of the capture point (CP) in the operational-space inverse dynamics control framework. Then, if balance is about to be lost, a good place to step to will be determined preventing the robot from falling down. Moreover, the control of the CP as a task (or constraint) guarantees that it is kept within certain limits, allowing the foot to have time to safely step to it before the robot falls. An advantage over other methods is the transparent integration of the CP letting the robot be able to simultaneously move its whole body satisfying other tasks. The method has been tested in simulation using the dynamic model of HRP-2.
21 citations
••
03 Oct 2013TL;DR: In this paper, a modular self-reconfigurable robot called UBot is presented, which has two degrees of freedom and four connecting surfaces with hook-type connecting mechanism and can transform between different configurations by changing their local connections, achieve complicated modes of motion and accomplish a large variety of tasks.
Abstract: The design and implementation of a novel modular Self-Reconfigurable Robot (SRR) called UBot is reviewed in this paper. Firstly, the philosophy of hardware design is presented. The module is designed with criteria such as cubic-shape, homogeneity, and strong connections to fulfill the requirements of complex three-dimensional reconfiguration and locomotion. Each robotic module has two degrees of freedom and four connecting surfaces with hook-type connecting mechanism. A group of modules can transform between different configurations by changing their local connections, achieve complicated modes of motion and accomplish a large variety of tasks. Secondly, a 3D dynamics simulator for UBot SRR is developed, where robot locomotion and transfiguration simulation could be done. A worm-like robot evolution is performed with results of a variety of high-performance locomotion patterns. Finally, Experiments are performed about autonomous docking, multi-mode locomotion and self-reconfiguration. The validity of docking method, CPG-network control and reconfiguration planning method is verified through locomotion and transformation tests of configurations such as snake-type, quadruped walking-type, omni-directional cross-type and loop-type.
21 citations
••
11 Dec 2002TL;DR: In this article, the authors proposed a modified serpeniod function with steering command to control the robot's direction and performed dynamic analysis using Kane's method, and verified their algorithm for directional control on this snake robot both simulation and experiment.
Abstract: This paper is a study on dynamic behavior of a snake robot, called Serpentine robot, 2nd version (SR#2). The SR#2 is the latest version of snake robots developed at FIBO as a research platform for studying serpentine gaits. The gait is in form of sinusoidal curve, considered one of the most effectiveness crawling pattern in the natural world. The Active Cord Mechanism (ACM) assumption, initiated by Hirose, is implemented. The robot motion results from different joint torques and frictional reacting forces in each wheel. In this study, we proposed a modified serpeniod function with steering command to control the robot's direction. We also performed dynamic analysis using Kane's method. Holonomic constraints under frictional forces and nonholonomic constraints unders velocities were considered. We verified our algorithm for directional control on this Serpentine robot both simulation and experiment.
21 citations
••
01 Oct 2007
TL;DR: An algorithm for dynamic force/torque measurement and robot load identification using the so called 12DOF sensor to measure forces/torques and linear/angular accelerations and the compensation of dynamic forces and torques is presented.
Abstract: This article presents an algorithm for dynamic force/torque measurement and robot load identification using the so called 12DOF sensor to measure forces/torques and linear/angular accelerations. The basic equations of dynamic forces and torques arising during robot motion and acting on the end-effector were worked out. To be able to perform the experiments suitable robot system based on a six axes articulated manipulator was constituted. For this system also the appropriate software was developed. The load parameters of the tool were determined during particular motion sequence of the robot and the values were compared with values from CAD software. The compensation of dynamic forces and torques is verified using the experimental robot system and the results are presented.
21 citations