Application and analyses of Dynamic Reconfiguration Manipulability Shape Index into humanoid biped walking

Keli Shen, Xiang Li, Hongzhi Tian, Daiji Izawa, Mamoru Minami, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, we define a new index of dynamic manipulability for humanoid biped walking to measure dynamic flexibility of changing mechanics by using residual redundancy, when primary work is being assigned, such as face and eyes being targeted to certain object. Although some measurements have been arranged so far to evaluate statical or dynamical flexibility of hand manipulator. This paper displays a new measurement of Dynamic Reconfiguration Manipulability Shape Index (DRMSI) which is the combination of dynamic manipulability and reconfiguration manipulability, and we have applied the DRMSI into humanoid robot experiments to evaluate its dynamical reconfiguration ability during walking. According to the value of DRMSI in our experiments, we have verified our humanoid robot model is reliable and effective since the results have indicated that the kinematic and dynamic characteristics of our model are similar to human-being.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1436-1441
Number of pages6
ISBN (Electronic)9781509043644
DOIs
Publication statusPublished - Feb 27 2017
Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
Duration: Dec 3 2016Dec 7 2016

Other

Other2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
CountryChina
CityQingdao
Period12/3/1612/7/16

ASJC Scopus subject areas

  • Hardware and Architecture
  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Shen, K., Li, X., Tian, H., Izawa, D., Minami, M., & Matsuno, T. (2017). Application and analyses of Dynamic Reconfiguration Manipulability Shape Index into humanoid biped walking. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 1436-1441). [7866529] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866529