A Humanoid Two-Arm System for Dexterous Manipulation

Ott, Christian; Eiberger, Oliver; Friedl, Werner; Bäuml, Berthold; Hillenbrand, Ulrich; Borst, Christoph; Albu‐Schäffer, Alin; Brunner, Bernhard; Hirschmüller, Heiko; Kielhöfer, Simon; Konietschke, Rainer; Suppa, Michael; Wimböck, Thomas; Zacharias, Franziska; Hirzinger, Gerd

doi:10.1109/ichr.2006.321397

Cited by 172 publications

(92 citation statements)

References 17 publications

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“…whereẋ B andẋ F are the velocities of the ball and foot, m F and m B = 0.45kg their effective masses and e = 0.5 the coefficient of restitution 8 . Since the DLR-LWRIII has in outstretched position a reflected inertia of ≈ 4kg in the impact direction, the velocity of the robot's end needs to be ≈ 0.75ẋ B , leading with 16m/s ≤ẋ B ≤ 27m/s to 12m/s ≤ẋ R ≤ 20.25m/s.…”

Section: How Big Is the Gap?mentioning

confidence: 99%

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Foul 2050: thoughts on physical interaction in human-robot soccer

Haddadin¹,

Laue

Frese

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The RoboCup community has one definite goal: winning against the human world soccer champion team by the year 2050 [1]. This implies real tackles and fouls between humans and robots and rises safety concerns for the robots and even more important for the human players. Nowadays, similar questions are discussed in the field of physical humanrobot interaction (pHRI), but mainly in the context of industrial and service robotics applications.Our paper is an attempt for a pHRI view on human-robot soccer. Technically, this will be years ahead, but still we believe it is enlighting to analyze the RoboCup vision from the perspective of pHRI. We take scenes from the 2006 FIFA World Cup as examples and discuss what could have happened if one of the teams consisted of robots instead of humans.

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Section: How Big Is the Gap?mentioning

confidence: 99%

“…Recently, there is increasing interest in domestic and industrial service robots that allow physical interaction [6], [7], [8]. The goal of robots and humans coexisting in the same physical domain poses various fundamental problems for the entire robotic design.…”

Section: State Of the Art In Physical Human-robot Interactionmentioning

confidence: 99%

Foul 2050: thoughts on physical interaction in human-robot soccer

Haddadin¹,

Laue

Frese

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…그 동안 인간형 로봇 분야에 있어서도 많은 연구가 진행되어 괄목할 만한 발전 이 이루어지고 있기 때문에 앞으로 다양한 분야에서 이러한 인간형 로봇의 역할이 기대되고 있다 [1,2,3,4]. 또한 이동형 로봇 플랫폼(mobile robotic platform)위에 인간형 상체를 탑재하여 필드(field)에서의 다양한 작업을 용이하게 수행하기 위한 연구도 괄목할 만하다 [5].…”

Section: 서 론unclassified

Analysis on Torques of Shoulder and Elbow Joints of Humanoid Robot Arm for Lifting Tasks

Kim¹

2015

Journal of Korean Institute of Intelligent Systems

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This paper analyses the torque characteristics of the shoulder and elbow joints of a humanoid robot arm that is useful for an object lifting and transferring task instead of human beings. For the purpose, some typical human lifting behaviors are considered, and various simulations for lifting and transferring an object have been performed by employing a humanoid robot arm having a simple configuration of shoulder and elbow joints. Through the simulation, it is shown that the torque patterns and ranges of the shoulder and elbow joints required for such a humanoid lifting and transferring task can be found earlier in the design of a humanoid robot arm. As a result, this effort is useful for us to design an effective robot arm.

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“…Neck with 2 DOFs -movements about the yaw and pitch axes, have ASIMO [10], HUBO [11], HRP-4 [12], EveR1 [13], NAO [14], AILA [15], TORO [16], Justin [17], Pepper [18] etc.Neck with3 DOFs -movements about the yaw, roll and pitch axes, haveWABIAN-2 [19], Albert HUBO [20], HRP-4C [21], Affetto [22], iCub [23], Probo [24], EveR-2 [25], Geminoid F [26], Actroid-F [27] etc.Neck with4 DOFs -yaw, roll, upper and lower pitch movements, haveWE-4RII [28], ARMAR-III [29], ROMAN [30], KOBIAN [31], SAYA [32], BARTHOC [33], Romeo [34], Flutist Robot WF-4 [35], Twente Humanoid Head [36] etc.Neck structures with 2, 3 or 4 DOFs usually consist of rigid and low backlash mechanisms that are interconnected -harmonic drive, cable-driven mechanisms, spindle drive, low backlash gears, etc. In addition to high reliability and carrying capacity, the advantage of these mechanisms is low backlash that provide high positioning accuracy and repeatability of movements.…”

Section: State Of the Artmentioning

confidence: 99%

Assistive humanoid robot MARKO: development of the neck mechanism

et al. 2017

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Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.

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A Humanoid Two-Arm System for Dexterous Manipulation

Cited by 172 publications

References 17 publications

Foul 2050: thoughts on physical interaction in human-robot soccer

Foul 2050: thoughts on physical interaction in human-robot soccer

Analysis on Torques of Shoulder and Elbow Joints of Humanoid Robot Arm for Lifting Tasks

Assistive humanoid robot MARKO: development of the neck mechanism

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