Physical control of the rotation of a flexible object - Rope turning with a humanoid robot

Chyon Hae Kim, Kenta Yonekura, Hiroshi Tsujino, Shigeki Sugano

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)491-506
Number of pages16
JournalAdvanced Robotics
Issue number3
Publication statusPublished - 2011 Feb 1


  • Humanoid robot
  • centrifugal force
  • energy transmission
  • rope
  • rotational axis

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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