Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
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12 Dec 2011
TL;DR: It is presented how a humanoid robot, called Acroban, allows whole-body robust, natural and intuitive physical interaction with both adults and children through the combination of several properties.
Abstract: We present how a humanoid robot, called Acroban, allows whole-body robust, natural and intuitive physical interaction with both adults and children. These physical human-robot interaction are made possible through the combination of several properties of Acroban: 1) it is whole-body compliant thanks to variable impedance control and also thanks to the use of elastics and springs; 2) it has a bio-inspired vertebral column allowing more flexibility in postural and equilibrium control; 3) it is lightweight; 4) it has simple low-level controllers that leverage the first three properties. Moreover, the capabilities for physical human-robot interaction that we show are not using a model of the human, and in this sense are “model free”: 1) the capability of the robot to keep its equilibrium while being manipulated or pushed by humans is a result of the intrinsic capability of the whole body to absorb unpredicted external perturbations; 2) the capability of leading Acroban by the hand is an emergent human-robot interface made possible by the self-organizing properties of the body and its low-level controllers and was observed a posteriori only after the robot was conceived and without any initial plan to make this possible. Finally, an originality of Acroban is that is is made with relatively low-cost components which lack of precision is counterbalanced with the robustness due to global geometry and compliance.
17 citations
26 May 2015
TL;DR: A new lightweight robotic platform that has 4 DoF and uses a cable driven continuum structure is devised that is offered as an open robotics platform and the results indicate directions to improve on feedback and interaction mechanisms.
Abstract: This paper concerns itself with a relatively unexplored type of personal robot that operates in the tool space. Handheld robots aim to cooperate with the user to solve tasks and improve what tools can offer enhanced by actuation, sensing, and importantly, task knowledge. To this end, we devised a new lightweight robotic platform that has 4 DoF and uses a cable driven continuum structure. Feedback from the robot to the user is provided in an intuitive, implicit manner by the robot end effector pointing towards the goal, avoiding pointing, and/or refusing to perform an action when it conflicts with the task specification. We evaluate two generic tasks involving aiming in space and picking/placing objects with a number of volunteers. Repeated measures ANOVA is used to analyse results to show in which conditions an increased level of automation in the handheld robot improves task performance or user perception of task load. The robot is offered as an open robotics platform[1] and the results indicate directions to improve on feedback and interaction mechanisms.
17 citations
01 Dec 2014
TL;DR: The humanoid robot system stability to the basic movements in playing football (walking, running, and kicking a ball) is proposed, with deficiency to disorders the high impulse resulting in added angular velocity control system functions, which can reduce the foot force moment generated when stopping suddenly and unexpectedly ran.
Abstract: This paper proposes a research about the humanoid robot system stability to the basic movements in playing football (walking, running, and kicking a ball). The system controls the stability of the robot body angle in order to remain in an ideal position, using the hand as a function of the feedback that has been controlled the actuator separately with leg function on the robot. The hand has a function as robot body tilt actuator controller and the foot has a function as gait motion control system that controls the robot to walk. This system has deficiency to disorders the high impulse, resulting in added angular velocity control system functions, which can reduce the foot force moment generated when stopping suddenly and unexpectedly ran. System control used PID control while in motion pattern and kinematic control system using Fuzzy algorithm. We applied the combination between the control and speed control angle pose at EROS (EEPIS Robosoccer).
17 citations
01 Oct 2006
TL;DR: Two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle.
Abstract: The recent natural and man-made devastations have urged the research on the Urban Search and Rescue (USAR) robot systems. This paper presents a novel shape-shifting mobile robot system named as Amoeba II (A-II) for the urban search and rescue application. It has been designed with three degrees of freedom (DOFs) and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. The joint unit can transform the robot shape for getting high mobility. A-II robot not only can adapt to the environment but also can change its body corresponding to locus space. It behaves two states including the parallel state (named as II state) and the linear state (named as I state). The parallel state enables the robot with high mobility on rough ground. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave etc. Also, the joint unit can propel the robot to roll in sidewise direction. Especially, two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. Finally, the elementary experimental results validate the adaptation and its mobility.
17 citations
TL;DR: An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented and the main concepts of multilink systems, zero moment point (ZMP), and feedback control are introduced so that the students can understand the relationship between the ZMP position and the stability of the robot.
Abstract: An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and the mechanics combination of a 16 degrees-of-freedom (DOF) humanoid robot are presented first. The main concepts of multilink systems, zero moment point (ZMP), and feedback control are then introduced such that the students can understand the relationship between the ZMP position and the stability of the robot. Finally, the students can simulate the desired motion trajectory and realize the motion practically on the real humanoid robot. Taking this course, the students can not only learn robotic theories and control techniques for humanoid robot motion, but can also enhance their experience in hands-on experiments in executing the motion of a humanoid robot. The proposed educational strategy will enable students to progress easily to more advanced work on robot design and control in their future study or careers.
17 citations