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

T. Otani, K. Hashimoto, S. Miyamae, H. Ueta, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICRA 2017 - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4768-4775
ページ数8
ISBN(電子版)9781509046331
DOI
出版ステータスPublished - 2017 7 21
イベント2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
継続期間: 2017 5 292017 6 3

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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