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 language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1436-1441 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509043644 |
| DOIs | |
| Publication status | Published - Feb 27 2017 |
| Event | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: Dec 3 2016 → Dec 7 2016 |
Other
| Other | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
|---|---|
| Country | China |
| City | Qingdao |
| Period | 12/3/16 → 12/7/16 |
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ASJC Scopus subject areas
- Hardware and Architecture
- Artificial Intelligence
- Control and Systems Engineering
Cite this
Application and analyses of Dynamic Reconfiguration Manipulability Shape Index into humanoid biped walking. / Shen, Keli; Li, Xiang; Tian, Hongzhi; Izawa, Daiji; Minami, Mamoru; Matsuno, Takayuki.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1436-1441 7866529.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Application and analyses of Dynamic Reconfiguration Manipulability Shape Index into humanoid biped walking
AU - Shen, Keli
AU - Li, Xiang
AU - Tian, Hongzhi
AU - Izawa, Daiji
AU - Minami, Mamoru
AU - Matsuno, Takayuki
PY - 2017/2/27
Y1 - 2017/2/27
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85016824931&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85016824931&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2016.7866529
DO - 10.1109/ROBIO.2016.7866529
M3 - Conference contribution
AN - SCOPUS:85016824931
SP - 1436
EP - 1441
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
ER -