Human-like redundancy resolution: An integrated inverse kinematics scheme for anthropomorphic manipulators with radial elbow offset

Li, Shiqi; Han, Ke; He, Ping; Li, Zhuo; Liu, Yizhang; Xiong, Youjun

doi:10.1016/j.aei.2022.101812

Cited by 4 publications

(2 citation statements)

References 31 publications

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“…Fifth, current humanoid robots still have limited autonomy and adaptability. Most anthropomorphic motion planning algorithms (including inverse kinematics methods ( Li G. et al, 2019 ; Li et al, 2022 ), visual teaching ( Kuniyoshi et al, 1994 ), reference path generation for upper limb rehabilitation exoskeletons ( Soltani-Zarrin et al, 2017 ), optimal control methods ( Taïx et al, 2013 ; Geoffroy et al, 2014 ), etc.) rely on offline planning and must be pre-programmed or rely on external commands to perform the task, and are simply not capable of continuously performing complex tasks outside of a specific work environment.…”

Section: Introductionmentioning

confidence: 99%

Anthropomorphic motion planning for multi-degree-of-freedom arms

Zheng,

Han,

Liang

2024

Front. Bioeng. Biotechnol.

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With the development of technology, the humanoid robot is no longer a concept, but a practical partner with the potential to assist people in industry, healthcare and other daily scenarios. The basis for the success of humanoid robots is not only their appearance, but more importantly their anthropomorphic behaviors, which is crucial for the human-robot interaction. Conventionally, robots are designed to follow meticulously calculated and planned trajectories, which typically rely on predefined algorithms and models, resulting in the inadaptability to unknown environments. Especially when faced with the increasing demand for personalized and customized services, predefined motion planning cannot be adapted in time to adapt to personal behavior. To solve this problem, anthropomorphic motion planning has become the focus of recent research with advances in biomechanics, neurophysiology, and exercise physiology which deepened the understanding of the body for generating and controlling movement. However, there is still no consensus on the criteria by which anthropomorphic motion is accurately generated and how to generate anthropomorphic motion. Although there are articles that provide an overview of anthropomorphic motion planning such as sampling-based, optimization-based, mimicry-based, and other methods, these methods differ only in the nature of the planning algorithms and have not yet been systematically discussed in terms of the basis for extracting upper limb motion characteristics. To better address the problem of anthropomorphic motion planning, the key milestones and most recent literature have been collated and summarized, and three crucial topics are proposed to achieve anthropomorphic motion, which are motion redundancy, motion variation, and motion coordination. The three characteristics are interrelated and interdependent, posing the challenge for anthropomorphic motion planning system. To provide some insights for the research on anthropomorphic motion planning, and improve the anthropomorphic motion ability, this article proposes a new taxonomy based on physiology, and a more complete system of anthropomorphic motion planning by providing a detailed overview of the existing methods and their contributions.

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Section: Introductionmentioning

confidence: 99%

Anthropomorphic motion planning for multi-degree-of-freedom arms

Zheng,

Han,

Liang

2024

Front. Bioeng. Biotechnol.

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“…In this regard, it should be noted that in the early 1990s, a robot approach was developed by the National Aeronautics and Space Administration to assemble truss structures in space where robot‐friendly structural systems were proposed to improve the efficiency and feasibility of the robotic applications (Doggett, 2002). Nevertheless, in prior work, only the end‐effector design was emphasized and improved (Li et al., 2022; Shaked et al., 2021) to facilitate structural assembly. In addition to the design of an end‐effector that is friendly to robotics in the construction, the structure and connections between individual components can also be designed for ease of assembly and to lessen the high workload and accuracy requirements of the end‐effectors.…”

Section: Introductionmentioning

confidence: 99%

Design and development of robotic collaborative system for automated construction of reciprocal frame structures

Chea,

Bai,

Zhou

2023

Computer aided Civil Eng

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Robotic technologies have shown their potential to improve efficiency, precision, and safety for construction tasks. In this paper, the concept of design for robotic construction (DfRC) is introduced, and robotic collaborative systems are developed for the construction of load‐carrying structures. An automated structural assembly was achieved and demonstrated through robotics with a preference for reciprocal frame (RF) structures. Key innovations include the use of magnetic temporary connections to minimize offsets of mobile robots and linear actuators as temporary supports during construction. Furthermore, specific procedures are formulated to navigate the robots and to target and install the components using a fiducial marker system and simultaneous localization and mapping packages, with consideration of structural deformation during construction due to self‐weight. The successful assembly of a 4.5‐m span RF structure demonstrates the potential of DfRC and the proposed robotic collaborative system in the automated construction of load‐carrying structures.

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