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Physical Control of the Rotation of a Flexible Object — Rope Turning with a Humanoid Robot

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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.
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Keywords: CENTRIFUGAL FORCE; ENERGY TRANSMISSION; HUMANOID ROBOT; ROPE; ROTATIONAL AXIS

Document Type: Research Article

Affiliations: 1: Honda Research Institute Japan Co., Ltd, 8-1 Honcho, Wako-shi, Saitama 351-0188, Japan;, Email: [email protected] 2: Sugano Lab. (59-321), Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan 3: Honda Research Institute Japan Co., Ltd, 8-1 Honcho, Wako-shi, Saitama 351-0188, Japan

Publication date: 2011-02-01

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