High-Speed Humanoid Robot Arm for Badminton Using Pneumatic-Electric Hybrid Actuators

Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

研究成果: ジャーナルへの寄稿学術誌査読

11 被引用数 (Scopus)

抄録

We describe the development of a robot configured to play badminton, a dynamic sport that requires high accuracy. We used pneumatic-electric hybrid actuators, each combining a pneumatic actuator, with high-speed and lightweight attributes, and an electric motor with good controllability. Our first objective was to develop hybrid actuators that are lightweight and compact and with integrated sections. Using parts made of lightweight materials such as plastics and aluminum coils, and using wire for power transmission, we made actuators much lighter and smaller than previous ones. In addition, for high accuracy and power, tension sensor units and a heat countermeasure mechanism were also incorporated. As practice partners, we consider badminton robots to be more useful if they were humanoid in appearance and have a variety of shots. We, therefore, developed a humanoid robot arm. By incorporating actuators as link structures, the overall weight was reduced, and both complex degrees of freedom (DoFs) and a large range of motion were realized. Subsequently, we developed a robot with seven DoFs, three DoFs for the shoulder, two for the elbow, and two for the wrist, similar to the configuration of human arms. The robot, therefore, roughly reproduces human movements. At 19 m/s, the maximum speed of the racket was quite fast. The hybrid control reduced the motion variance, allowing improvements in accuracy of more than three times that of motions with only pneumatic control. In addition, performing path planning and tracking control with high precision was possible, tasks that are difficult for conventional pneumatic dynamic robots.

本文言語英語
論文番号8764002
ページ(範囲)3601-3608
ページ数8
ジャーナルIEEE Robotics and Automation Letters
4
4
DOI
出版ステータス出版済み - 10月 2019
外部発表はい

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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