Physical control of the rotation of a flexible object - Rope turning with a humanoid robot

Chyon Hae Kim, Kenta Yonekura, Hiroshi Tsujino, Shigeki Sugano

    Research output: Contribution to journalArticle

    7 Citations (Scopus)

    Abstract

    Rope turning tasks are useful to explore rhythmic physical human-robot interaction. However, in traditional studies, a robot was not able to turn a rope by itself, because simultaneous control of three factors, i. e., energy transmission, rotational axis and centrifugal force, is difficult when a robot rotates a flexible object such as a rope. In this paper, we propose a method to control these three factors simultaneously. We developed the method by adding a compensator to an attractor that attracts the end-effector of a robot to a uniform circular motion within a fixed radius. In a rope turning simulation, the end-effector of a robot and the center of mass of a simplified rope converged to uniform circular motions. In addition, we applied the proposed method to a rope turning task performed by a humanoid robot. The robot was able to turn a rope with one fixed end or in cooperation with a human.

    Original languageEnglish
    Pages (from-to)491-506
    Number of pages16
    JournalAdvanced Robotics
    Volume25
    Issue number3
    DOIs
    Publication statusPublished - 2011 Feb 1

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    Robots
    End effectors
    Human robot interaction

    Keywords

    • centrifugal force
    • energy transmission
    • Humanoid robot
    • rope
    • rotational axis

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Human-Computer Interaction
    • Computer Science Applications
    • Hardware and Architecture
    • Software

    Cite this

    Physical control of the rotation of a flexible object - Rope turning with a humanoid robot. / Kim, Chyon Hae; Yonekura, Kenta; Tsujino, Hiroshi; Sugano, Shigeki.

    In: Advanced Robotics, Vol. 25, No. 3, 01.02.2011, p. 491-506.

    Research output: Contribution to journalArticle

    Kim, Chyon Hae ; Yonekura, Kenta ; Tsujino, Hiroshi ; Sugano, Shigeki. / Physical control of the rotation of a flexible object - Rope turning with a humanoid robot. In: Advanced Robotics. 2011 ; Vol. 25, No. 3. pp. 491-506.
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