Advertisement

Design of Programmable Passive Compliance for Humanoid Shoulder

Towards Skill of Compliance of Humanoid Robots
  • Masafumi Okada
  • Yoshihiko Nakamura
  • Shigeki Ban
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)

Abstract

We have developed the 3-DOF humanoid’s shoulder mechanism ‘Cybernetic Shoulder’. Whose advantages are human-like motion, introduction of the passive compliance, large mobile area and singularity free. In this paper, we develop the second prototype of the cybernetic shoulder which has the programmable passive compliance mechanism using a redundant actuator, which is an essential function for humanoid robots to realize the human skill. The programmability of this mechanism is evaluated by an experiment.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    R.P.C. Paul and B. Shimano: Compliance and Control, Proc. of the 1976 Joint Automatic Control Conference, pp.694–699, 1976.Google Scholar
  2. [2]
    H. Hanafusa and H. Asada: Stable Pretension by a Robot Hand with Elastic Fingers, Proc. of the 7th International Symposium on Industrial Robots, pp.361–368, 1977.Google Scholar
  3. [3]
    N. Hogan: Mechanical Impedance Control in Assistive Devices and Manipulators, Proc. of the 1980 Joint Automatic Control Conference, pp.TA10–B, 1980.Google Scholar
  4. [4]
    J.K. Salisbury: Active Stiffness Control of a Manipulator in Cartesian Coordinates, Proc. of the IEEE Conference on Decision and Control, 1980.Google Scholar
  5. [5]
    N. Hogan: Impedance Control: An Approach to Manipulation: Part 1∼3, ASME Journal of Dynamic Systems, Measurement and Control, Vol.107, pp.1–24, 1985.MATHCrossRefGoogle Scholar
  6. [6]
    K.F. L-Kovitz, J.E. Colgate and S.D.R. Carnes: Design of Components for Programmable Passive Impedance, Proc. of IEEE International Conference on Robotics and Automation, pp.1476–1481, 1991.Google Scholar
  7. [7]
    M. Okada and Y. Nakamura: Development of the Cybernetic Shoulder — A Three DOF Mechanism that Imitates Biological Shoulder-Motion —, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.2, pp.543–548 (1999)Google Scholar
  8. [8]
    T. Morita and S. Sugano: Design and Development of a new Robot Joint using a Mechanical Impedance Adjuster, Proc. of IEEE International Conference on Robotics and Automation, pp.2469–2475 (1995)Google Scholar
  9. [9]
    H. Kobayashi, K. Hyodo and D. Ogane: On Tendon-Driven Robotic Mechanism with Redundant Tendons, Int. J. of Robotics Research, Vol.17, No.5, pp.561–571 (1998)CrossRefGoogle Scholar
  10. [10]
    M. Okada, Y. Nakamura and S. Hoshino: Design of Active/Passive Hybrid Compliance in the Frequency Domain — Shaping Dynamic Compliance of Humanoid Shoulder Mechanism —, Proc. of IEEE International Conference on Robotics and Automation, pp.2250–2257 (2000)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Masafumi Okada
    • 1
  • Yoshihiko Nakamura
    • 1
  • Shigeki Ban
    • 1
  1. 1.Univ. of TokyoTokyoJapan

Personalised recommendations