TY - GEN
T1 - Angular momentum compensation in yaw direction using upper body based on human running
AU - Otani, T.
AU - Hashimoto, K.
AU - Miyamae, S.
AU - Ueta, H.
AU - Sakaguchi, M.
AU - Kawakami, Y.
AU - Lim, H. O.
AU - Takanishi, A.
N1 - Funding Information:
This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Institute of Advanced Active Aging Research, Waseda University; Future Robotics Organization, WasedaUniversity, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by the JSPS KAKENHI Grant No. 25220005 and 25709019; Waseda University Grant for Special Research Projects (Project number: 2016S-082); SolidWorks Japan K.K.; and DYDEN Corporation; we thank all of them for the financial and technical support provided. Further, the high-performance physical modeling and simulation software MapleSim used in this research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.) Takuya Otani is the Department of Modern Mechanical Engineering, Waseda University; #41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, JAPAN (e-mail: contact@takanishi.mech.waseda.ac.jp).
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.
AB - Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.
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U2 - 10.1109/ICRA.2017.7989554
DO - 10.1109/ICRA.2017.7989554
M3 - Conference contribution
AN - SCOPUS:85024131019
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4768
EP - 4775
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -