Pole vaulting robot with dual articulated arms that can change reaching position using active bending motion
Pole vaulting robot with dual articulated arms that can change reaching position using active bending motion
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DOI：
10.1109/humanoids.2015.7363564
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发表时间：
2015-12
期刊：
影响因子：
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通讯作者：
Satoshi Nishikawa;Tomohiro Kobayashi;T. Fukushima;Y. Kuniyoshi
中科院分区：
文献类型：
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作者：
Satoshi Nishikawa;Tomohiro Kobayashi;T. Fukushima;Y. Kuniyoshi
弹性是增强机器人物理能力的重要因素。撑杆跳是一项有趣的任务，因为一个大的弹性杆大大改变了机器人的轨迹。此外，机器人可以改变其行为，通过操纵柔性杆在长杆支撑阶段。在这项研究中，我们研究了如何到达点的撑杆跳改变了主动弯曲运动，因为它是重要的机器人移动到所需的地方。为了研究运动的影响，我们使用了一个多摆模型和一个机器人具有双关节臂与抓手。仿真结果表明，主动弯曲运动的切换时间改变了到达位置。相对较晚的切换时间允许机器人跳跃到更远的位置。然而，非常晚的切换时间具有相反的效果。接着，我们针对拟人型机器人的应用，发展出一具双关节手臂的撑竿跳高机器人。使用该机器人的撑杆跳实验在模拟中显示出相同的趋势。结果表明，撑竿跳高的到达位置可以通过主动弯曲的转换时间来控制。此外，通过释放杆，机器人达到了1.67米的高度。
Elasticity is an important factor in enhancing the physical capabilities of robots. Pole vaulting is an interesting task because a large elastic pole changes the trajectory of the robot drastically. Moreover, the robot can change its behavior by manipulating the flexible pole during a long pole-support phase. In this study, we investigated how the reaching point of pole vaulting was changed by an active bending motion because it is important for robots to move to the desired place. To examine the effect of motion, we used a multiple pendulum model and a robot having dual articulated arms with grippers. Simulation results showed that reaching positions were changed by the switching time of the active bending motion. A relatively late switching time allowed robots to vault to a farther position. However, a very late switching time had the opposite effect. Then, we developed a pole vaulting robot having dual articulated arms with grippers for the application of humanoid robots. Pole vaulting experiments using this robot showed the same tendency in the simulation. These results indicated that the reaching position of pole vaulting could be controlled by the switching time of active bending. Further, the robot reached a height of 1.67 m by releasing the pole.