Articulated robot

About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.

Leg Design for a Humanoid Walking Robot

Abstract: The paper presents the leg design of the 22-DoF humanoid walking robot Lola The goal of the project is to realize a fast, human-like walking motion The robot is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers and sensor data processing Linear actuators are used for the knee and ankle joints to achieve a better mass distribution in the legs and to improve performance of the stabilizing control Some critical structural parts have been designed by means of topology optimization in order to balance the demands for high stiffness and strength with low weight

Dependable multimodal communication and interaction with robotic assistants

Abstract: To advance research in the field of multimodal human-robot communication we designed and built the humanoid robot Hermes. Equipped with an omnidirectional undercarriage and two manipulator arms it combines visual, kinesthetic, tactile, and auditory sensing with natural spoken language input and output and body expressions for natural communication and interaction with humans. Hermes was successfully tested in an extended six-month experiment in a museum where only naive users interacted with the robot. They chatted with Hermes in several languages and requested various services. Multimodal communication and an understanding of the current situation by the robot turned out to be the key to success.

Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity

Abstract: This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interaction force, a pHRI model was developed using virtual mechanical impedance, and an experimental method to determine the impedance parameters of the pHRI model was proposed. The controller was developed in such a way that the desired motion will be controlled using dynamic model-based compensation. To verify the proposed control method, it was applied to an exoskeleton robot with 6-DOF for both arms. Motion-following-performance experiment and muscle-strength-assisting-effect experiment were conducted using this robot. Experimental results, the wearer of the exoskeleton robot can handle a small force was the heavy object.

The anthropomorphic biped robot BIP2000

Abstract: This paper describes the progress of the BIP2000 project. This project is aimed at the realization of the lower part of an anthropomorphic biped robot. The robot consists of two legs, two feet, a pelvis and a trunk. It has 15 active joints. The mass distribution, the kinematics and the capacities of the robot in terms of joint torques are close to the ones of humans. The transmissions are specific screw/nut-based systems which have good dynamic performances and small size. They are arranged in parallel at the ankles and at the trunk/pelvis linkage. The control schemes are either based on a control of the center of mass associated with suitable task functions, or take dynamically into account the unilateral constraints foot/ground. The robot has been built and tested, the computer control architecture has been realized and connected with the robot, and the basic control schemes have been implemented.

Locomotive mechanism design and fabrication of biomimetic micro robot using shape memory alloy

Abstract: Recently, micro robots have been applied in various industrial areas. Some of them are requested to be able to move in small space or rough environment that people cannot reach. It is necessary to have a capability to move at even overturned and adapt simple mechanism to fabricate it easily with small size. In this paper, a novel bio-mimetic micro robot with simple mechanism using shape memory alloy (SMA) is introduced to generate earthworm-like locomotive motion. There have been many kinds of mobile micro robot using the SMA. However, these actuators generally require electric cable for power supply, which might have an adverse effect on the mobility of the micro robot The proposed micro robot system is composed of an actuator with SMA spring and silicone bellows, wireless control system, wireless power supply (battery) and body frames. The robot is also analyzed to customize required specifications. After the design and experiment, we find out that the micro robot can move a wireless free motion and be fabricated easily. Like an earthworm, the robot can travel on uneven, slippery and flexible environment.