Angular momentum compensation in yaw direction using upper body based on human running

Takuya Otani, K. Hashimoto, S. Miyamae, H. Ueta, M. Sakaguchi, Yasuo Kawakami, H. O. Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4768-4775
Number of pages8
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 2017 Jul 21
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 2017 May 292017 Jun 3

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17/5/2917/6/3

Fingerprint

Angular momentum
Robots
Carbon fiber reinforced plastics
Compensation and Redress

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Otani, T., Hashimoto, K., Miyamae, S., Ueta, H., Sakaguchi, M., Kawakami, Y., ... Takanishi, A. (2017). Angular momentum compensation in yaw direction using upper body based on human running. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 4768-4775). [7989554] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989554

Angular momentum compensation in yaw direction using upper body based on human running. / Otani, Takuya; Hashimoto, K.; Miyamae, S.; Ueta, H.; Sakaguchi, M.; Kawakami, Yasuo; Lim, H. O.; Takanishi, Atsuo.

ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4768-4775 7989554.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Otani, T, Hashimoto, K, Miyamae, S, Ueta, H, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2017, Angular momentum compensation in yaw direction using upper body based on human running. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989554, Institute of Electrical and Electronics Engineers Inc., pp. 4768-4775, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 17/5/29. https://doi.org/10.1109/ICRA.2017.7989554
Otani T, Hashimoto K, Miyamae S, Ueta H, Sakaguchi M, Kawakami Y et al. Angular momentum compensation in yaw direction using upper body based on human running. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4768-4775. 7989554 https://doi.org/10.1109/ICRA.2017.7989554
Otani, Takuya ; Hashimoto, K. ; Miyamae, S. ; Ueta, H. ; Sakaguchi, M. ; Kawakami, Yasuo ; Lim, H. O. ; Takanishi, Atsuo. / Angular momentum compensation in yaw direction using upper body based on human running. ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 4768-4775
@inproceedings{33ea26507285483d944f0ef815847e19,
title = "Angular momentum compensation in yaw direction using upper body based on human running",
abstract = "Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.",
author = "Takuya Otani and K. Hashimoto and S. Miyamae and H. Ueta and M. Sakaguchi and Yasuo Kawakami and Lim, {H. O.} and Atsuo Takanishi",
year = "2017",
month = "7",
day = "21",
doi = "10.1109/ICRA.2017.7989554",
language = "English",
pages = "4768--4775",
booktitle = "ICRA 2017 - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

TY - GEN

T1 - Angular momentum compensation in yaw direction using upper body based on human running

AU - Otani, Takuya

AU - Hashimoto, K.

AU - Miyamae, S.

AU - Ueta, H.

AU - Sakaguchi, M.

AU - Kawakami, Yasuo

AU - Lim, H. O.

AU - Takanishi, Atsuo

PY - 2017/7/21

Y1 - 2017/7/21

N2 - Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.

AB - Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.

UR - http://www.scopus.com/inward/record.url?scp=85024131019&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85024131019&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2017.7989554

DO - 10.1109/ICRA.2017.7989554

M3 - Conference contribution

AN - SCOPUS:85024131019

SP - 4768

EP - 4775

BT - ICRA 2017 - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

ER -