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LARM PKM solutions for torso design in humanoid robots
Marco CECCARELLI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 308-316 doi: 10.1007/s11465-014-0318-6
Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.
关键词: humanoid robots torso design parallel manipulators (PKM) conceptual design
A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables
《机械工程前沿(英文)》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2
关键词: modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0696-0
关键词: function-oriented tendon driven prosthetic hand optimization humanoid underactuated
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
《信息与电子工程前沿(英文)》 2015年 第16卷 第7期 页码 607-616 doi: 10.1631/FITEE.14a0335
关键词: Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)
Superunderactuated Multifingered Hand for Humanoid Robot
ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei
《机械工程前沿(英文)》 2006年 第1卷 第1期 页码 33-39 doi: 10.1007/s11465-005-0015-6
A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.
关键词: control real-time control superunderactuation TH-2 personification
An experimental analysis of human straight walking
Tao LI, Marco CECCARELLI
《机械工程前沿(英文)》 2013年 第8卷 第1期 页码 95-103 doi: 10.1007/s11465-013-0357-4
In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.
关键词: human locomotion walking gait characterization humanoid robot biped robot
美国国防部先进研究项目局举办的机器人大挑战赛的参与和崎岖地面行走的滑雪式步态 Article
王宏飞, 李诗濛, 郑元芳
《工程(英文)》 2015年 第1卷 第1期 页码 36-45 doi: 10.15302/J-ENG-2015006
本文简要介绍了美国国防部先进研究项目局举办的机器人大挑战赛的历史,并将关注的焦点放在了2012机器人挑战赛上。作为该挑战赛DRC-HUBO队的成员,我们为完成崎岖地面的任务提出了不同的方法,如增大脚踏板、转换成四足行走等。同时,本文还介绍了一种帮助提高仿人机器人运动稳定性的新步态——滑雪式步态。本文对该步态的稳定性进行了分析,并利用稳定度裕量从两种备选的步进顺序(爬行-1和爬行-2)中进行选择。接下来,本文对滑雪式步态中冗余的闭链系统进行力/力矩分析,通过最小化总耗能量来确定关节力矩。根据稳定性分析和力/力矩分析,我们设计了一种手杖长度,使其可以支撑HUBO2仿人机器人平台稳定地实现爬行-2步态。最后,通过将本文的试验结果和两足步行进行对比,验证了滑雪式步态的可行性。同时,介绍了我队在该机器人挑战赛上的表现。
标题 作者 时间 类型 操作
Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand
期刊论文
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
期刊论文
Superunderactuated Multifingered Hand for Humanoid Robot
ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei
期刊论文