Skip to main content

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

Buy Article:

$60.90 plus tax (Refund Policy)

Abstract:

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.

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

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918610X551791

Affiliations: 1: Honda Research Institute Japan Co., Ltd, 8-1 Honcho, Wako-shi, Saitama 351-0188, Japan;, Email: Tenkai@jp.honda-ri.com 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: February 1, 2011

tandf/arb/2011/00000025/F0020003/art00012
dcterms_title,dcterms_description,pub_keyword
6
5
20
40
5

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more