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

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

研究成果: Article査読

7 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)491-506
ページ数16
ジャーナルAdvanced Robotics
25
3
DOI
出版ステータスPublished - 2011 2 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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