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Horio R, Uchiyama N, Sano S. Observer Design for Estimating Support Force Applied by a Human Operator of a Biped Robot. JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS 2017. [DOI: 10.20965/jaciii.2017.p0744] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
The recognition of a robot operator’s intention/command is important in human-robot collaboration systems. This paper presents a novel approach to estimating the human operator’s force applied to a robotic system. In our previous study, we proposed a human-operated biped robot for transporting objects on rough terrain, steps or stairs. In this paper, we consider a new control system for the proposed robot, which enables the estimation of the support force applied by a human operator. The dynamics of the proposed robot are modeled by assuming that a support force applied by an operator is considered as a disturbance to each joint. The observer was designed to estimate the disturbance based on a high-gain observer; it was proven that the observer could estimate the disturbance with sufficient accuracy. Simulation results show that the observer successfully estimated the support force as a disturbance even though the disturbance property was completely unknown. In this study, the proposed biped robot system with the observer was expected to provide support to human operators for the cooperative transportation of objects up the stairs.
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Uchiyama N, Kurita D, Sano S. Design and Control of a Human-Operated Biped Robot for Transportation of Objects. JOURNAL OF ROBOTICS AND MECHATRONICS 2014. [DOI: 10.20965/jrm.2014.p0750] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/08.jpg"" width=""200"" />Human-operated biped robot</div> Object transportation is a basic task for which mechanical systems provide support. Examples of the many types of mobile devices developed thus far are handcarts, unmanned autonomous vehicles, forklifts and turret trucks. Most such vehicles are based on wheeled mobile mechanisms, which would be difficult to use for moving objects in areas with high steps. A walking mobile mechanism, in contrast, enables steps to be ascended and descended, so it is expected that walking mechanisms could support object transportation in environments with stairs or steps. In this paper, we present a biped robot that supports object transportation involving stairs instead of human operators doing so. We start with the design of a biped robot with four actuators for one each for the hips and knees of each leg. Dynamics of the biped robot is then derived for simulation in which force applied by a human operator and a reaction from the ground are considered. A controller is presented for transporting objects up stairs having an unknown step height. Experimental results and photos confirm that the developed system successfully climbs the stairs of unknown height during human operation. </span>
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Nakata Y, Ide A, Nakamura Y, Hirata K, Ishiguro H. Hopping by a Monopedal Robot with a Biarticular Muscle by Compliance Control – An Application of an Electromagnetic Linear Actuator –. JOURNAL OF ROBOTICS AND MECHATRONICS 2013. [DOI: 10.20965/jrm.2013.p0106] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
The compliance of muscles with external force and the structural stability given by biarticular muscles are important features of animals for realizing dynamic whole-body motion such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator emulates the behavior of a human muscle, such as spring-damper properties, through the quick control of output force, i.e., impedance control. It is expected to be used as an artificial muscle. In this paper, we design a monopedal robot possessing bi- and mono-articular muscles implemented by linear actuators. Thanks to the biarticular muscle, the direction of bouncing by a robot can be controlled by changing the stiffness ellipse at the endpoint, i.e., foot, of the robot. We make a simulator of the robot to evaluate dynamic characteristics and show that the robot hops stably by adjusting the stiffness ellipse. We also confirm that the behavior of the real robot is consistent with that of our simulator.
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