Humanoid robot performing jump-and- hit motions using structure-integrated pneumatic cable cylinders
Humanoid robot performing jump-and- hit motions using structure-integrated pneumatic cable cylinders
复制标题
使用结构集成气动电缆缸执行跳跃和击打动作的人形机器人
DOI：
10.1109/humanoids.2017.8246948
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Yasuo Kuniyoshi
中科院分区：
文献类型：
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作者：
Kazutoshi Tanaka;Satoshi Nishikawa;Ryuma Niiyama;Yasuo Kuniyoshi
在这项研究中，一个结构集成的气动电缆缸已被开发作为一个驱动器的人形机器人。机器人在跳跃和击中飞行物体（跳跃和击中运动）的性能进行了测试，以预测其性能在即时和动态的全身运动。作者使用气缸测试了机器人手臂的运动，并模拟了跳跃运动，以确定执行跳跃和击打操作的机器人的设计参数。机器人手臂的测试结果表明，一个两公斤重的手臂，使用C3，带活塞的连杆，直径32毫米，在0.44秒内移动75度。对双足机器人前跳运动的仿真结果表明，在50 mm的关节力-力矩比下，其躯干顶部向前移动了3.0 m。利用机器人手臂的圆柱体和腿上具有上述力-扭矩比的关节，已经开发出一种人形机器人的原型，该机器人可以在球从不同方向飞向它的情况下执行各种跳跃和击球运动。因此，所提出的设计允许机器人方便地执行即时和动态的全身运动。
In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-and-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-and-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force - torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force - torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-and-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.