Pole vaulting robot with dual articulated arms that can change reaching position using active bending motion

Satoshi Nishikawa, Tomohiro Kobayashi, Toshihiko Fukushima, Yasuo Kuniyoshi

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルHumanoids 2015
ホスト出版物のサブタイトルHumanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots
出版社IEEE Computer Society
ページ395-400
ページ数6
ISBN(電子版)9781479968855
DOI
出版ステータス出版済み - 12 22 2015
外部発表はい
イベント15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, 大韓民国
継続期間: 11 3 201511 5 2015

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
2015-December
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

会議

会議15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
国/地域大韓民国
CitySeoul
Period11/3/1511/5/15

All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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