High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot
High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot
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DOI：
10.1109/lra.2018.2803207
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发表时间：
2018-02
影响因子：
5.2
通讯作者：
Shotaro Mori;Kazutoshi Tanaka;Satoshi Nishikawa;Ryuma Niiyama;Y. Kuniyoshi
中科院分区：
文献类型：
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作者：
Shotaro Mori;Kazutoshi Tanaka;Satoshi Nishikawa;Ryuma Niiyama;Y. Kuniyoshi
体育运动，尤其是羽毛球运动，要求参与者做出动态而熟练的动作。以前的机器人由于运行速度低、身体笨重和机构简单等严重限制，很难像人类一样执行任务。在这封信中，我们提出了一种新的机器人设计，该设计由气动执行器和互不干扰的多自由度关节集成结构组成，用于实现高速、轻型人形机器人。我们为羽毛球制作了四自由度机械臂，羽毛球是一项特别动态的运动，目标是在满足几何要求的同时获得最大速度。该机器人以 21 m/s 的球拍头速度挥动，这比以前的机械臂达到的速度要高。该机器人还实现了以往机构简单的羽毛球机器人无法完成的技巧性击球，即旋转网击球。气动机器人被认为难以控制，特别是在反馈控制方面。我们发现，对于四种强力挥杆，机器人的球拍头再现性可达 10-40 毫米。利用前馈控制，我们还进行了机器人击打飞梭的实验，获得了69.7%的强力挥击命中率。我们相信这项研究扩展了气动机器人的可能性，是开发熟练的人形羽毛球机器人的第一步。
Sports, especially badminton, require participants to perform dynamic and skillful motions. Previous robots have had difficulty in performing like a human because of their severe limitations of low operating speed, heavy bodies, and simplistic mechanisms. In this letter, we propose a new robot design that consists of a structure integrated with pneumatic actuators and noninterfering many-degree-of-freedom joints, for the realization of a high-speed and lightweight humanoid robot. We made a four-degree-of-freedom robot arm for badminton, which is an especially dynamic sport, aiming for maximum speed while meeting geometric requirements. The robot swung with a racket-head speed of 21 m/s, which is a value higher than speeds achieved by previous robotic arms. The robot also realized a skillful shot, namely the spin net shot, which cannot be performed by previous badminton robots having simple mechanisms. A pneumatic robot is considered difficult to control, especially in terms of feedback control. We found that the reproducibility of the robot was as fine as 10–40 mm at the racket head for four kinds of strong swings. Using feedforward control, we also conducted an experiment in which the robot hits a flying shuttle, and achieved a high hitting rate of 69.7% for powerful swings. We believe that this research expands the possibilities of the pneumatic robot and is the first step toward developing a skillful humanoid badminton robot.