Analysis of flat terrain for the atlas robot

Waard, Maarten de; Inja, Maarten; Visser, A.

doi:10.1109/rios.2013.6595324

Cited by 12 publications

(5 citation statements)

References 6 publications

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“…The Atlas robot (de Waard et al, 2013) ( Figure 3A) from Boston Dynamics has been developed for outdoor search and rescue. Several diverse, powerful non-humanoid robotic hands can be linked to its arm one at a time for use in various scenarios.…”

Section: Humanoid Robot's Robotic Handmentioning

confidence: 99%

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Tian

Thalmann

et al. 2017

Front. Robot. AI

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Dexterity robotic hands can (Cummings, 1996) greatly enhance the functionality of humanoid robots, but the making of such hands with not only human-like appearance but also the capability of performing the natural movement of social robots is a challenging problem. The first challenge is to create the hand's articulated structure and the second challenge is to actuate it to move like a human hand. A robotic hand for humanoid robot should look and behave human like. At the same time, it also needs to be light and cheap for widely used purposes. We start with studying the biomechanical features of a human hand and propose a simplified mechanical model of robotic hands, which can achieve the important local motions of the hand. Then, we use 3D modeling techniques to create a single interlocked hand model that integrates pin and ball joints to our hand model. Compared to other robotic hands, our design saves the time required for assembling and adjusting, which makes our robotic hand ready-to-use right after the 3D printing is completed. Finally, the actuation of the hand is realized by cables and motors. Based on this approach, we have designed a cost-effective, 3D printable, compact, and lightweight robotic hand. Our robotic hand weighs 150 g, has 15 joints, which are similar to a real human hand, and 6 Degree of Freedom (DOFs). It is actuated by only six small size actuators. The wrist connecting part is also integrated into the hand model and could be customized for different robots such as Nadine robot (Magnenat Thalmann et al., 2017). The compact servo bed can be hidden inside the Nadine robot's sleeve and the whole robotic hand platform will not cause extra load to her arm as the total weight (150 g robotic hand and 162 g artificial skin) is almost the same as her previous unarticulated robotic hand which is 348 g. The paper also shows our test results with and without silicon artificial hand skin, and on Nadine robot.

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Section: Humanoid Robot's Robotic Handmentioning

confidence: 99%

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Tian

Thalmann

et al. 2017

Front. Robot. AI

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“…Collision avoidance into trajectory optimization as a method of solving robotic motion planning problems was recently addressed by Schulman and Lee [17]. Waard et al have analyzed the capabilities of the Atlas robot for locomotion over flat terrain [20].…”

Section: Related Workmentioning

confidence: 99%

Internet-Based Supervisory Teleoperation of a Virtual Humanoid Robot

Suárez-Ruiz

Owen-Hill

Ferré

2014

ROBOT2013: First Iberian Robotics Conference

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Abstract. This paper describes the approach used by the Sarbot-Team 1 for controlling the Atlas humanoid robot during the DARPA Virtual Robotics Challenge that took place in June 2013. Herein we present a proposal for overcoming the restrictions on performance caused by limited bandwidth, high latency and the effects of signal degradation induced by beyond line of sight (BLOS) conditions, RF interference, and other related circumstances.Experimental evaluation confirmed the effectiveness of our approach and present an alternative for coping with constrained communication conditions during the control of humanoid robot deployed at unattended areas.

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“…Modern ground-based robotic complexes are characterized by high technical characteristics. Existing manipulators that use an electric drive are controlled by an intelligent control system [1], they have a fairly high load capacity, accuracy and reliability. With remote control, objects are usually moved with a fixed chassis at low speeds.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the accuracy of the manipulator of the robotic complex constructed on the basis of cycloidal transmission

Strutynskyi

Semenchuk

2021

TAPR

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The object of research is modern robotic systems used in hotspots. In their arsenal, such mobile works are equipped with manipulators with high-precision hinges, which provide accurate positioning of the gripper (object of manipulation). Considering ground-based robotic complexes with a wheel or caterpillar base, the implementation of the process of manipulation on a stationary basis, a number of problem areas were identified that affect the accuracy of positioning. In the course of research and analysis of modern robotic complexes, their circuit and design of components and mechanisms that provide the necessary qualities and parameters. The problem of developing high-precision hinges is central to the creation of efficient ground-based robotic systems. The methodology of kinematic research of rotary hinges of the manipulator for the ground robotic complex is stated. The analysis of influence of deformations of material of impellers of not involute transfer on accuracy of positioning of a final subject is carried out. A kinetostatic analysis of the manipulator circuit was performed and the maximum moments acting in the hinged units on the drive unit were determined, which allowed to make a quantitative assessment using the Solidworks software package. The mathematical model of construction of transfer and definition of accuracy of a rotary knot for a ground robotic complex, with use of cycloidal transfer without intermediate rolling bodies is investigated and developed. Mathematical modeling and taking into account the features of mechanical processes occurring in the manipulator, allows to increase the technical level of robotic complexes. Ways of improvement are defined for maintenance of a progressive design of the manipulator that not only will satisfy necessary technical characteristics, but also will allow to simplify manufacturing technology. Modern technologies and materials (stereolithography, carbon fiber, superhard materials) make it possible to implement advanced designs of spatial drive systems. Therefore, work in this direction is relevant, as robotic mechanical complexes for special purposes are widely used when performing work in emergencies.

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Analysis of flat terrain for the atlas robot

Cited by 12 publications

References 6 publications

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Internet-Based Supervisory Teleoperation of a Virtual Humanoid Robot

Investigation of the accuracy of the manipulator of the robotic complex constructed on the basis of cycloidal transmission

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