Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking

Yosuke Kobayashi; Mamoru Minami; Akira Yanou; Tomohide Maeba

doi:10.1109/SII.2012.6426955

Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking

Yosuke Kobayashi, Mamoru Minami, Akira Yanou, Tomohide Maeba

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability (DM) ellipsoid describes a distribution of hand acceleration produced by normalized joint torque. On the other hand, Reconfiguration Manipulability (RM) ellipsoid denotes a distribution of each link velocity produced by joint angular velocity. This paper shows new index of Dynamic Reconfiguration Manipulability (DRM) combined DM and RM, and we have adopted the DRM to a humanoid robot, exhibiting how the DRM indicates directly the configuration-changeability of walking humanoid robot.

Original language	English
Title of host publication	2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages	73-78
Number of pages	6
DOIs	https://doi.org/10.1109/SII.2012.6426955
Publication status	Published - Dec 1 2012
Event	2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan Duration: Dec 16 2012 → Dec 18 2012

Publication series

Name	2012 IEEE/SICE International Symposium on System Integration, SII 2012

Other

Other	2012 IEEE/SICE International Symposium on System Integration, SII 2012
Country	Japan
City	Fukuoka
Period	12/16/12 → 12/18/12

ASJC Scopus subject areas

Information Systems

Access to Document

10.1109/SII.2012.6426955

Fingerprint Dive into the research topics of 'Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking'. Together they form a unique fingerprint.

Cite this

Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking. / Kobayashi, Yosuke; Minami, Mamoru; Yanou, Akira; Maeba, Tomohide.

2012 IEEE/SICE International Symposium on System Integration, SII 2012. 2012. p. 73-78 6426955 (2012 IEEE/SICE International Symposium on System Integration, SII 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kobayashi, Y, Minami, M, Yanou, A & Maeba, T 2012, Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking. in 2012 IEEE/SICE International Symposium on System Integration, SII 2012., 6426955, 2012 IEEE/SICE International Symposium on System Integration, SII 2012, pp. 73-78, 2012 IEEE/SICE International Symposium on System Integration, SII 2012, Fukuoka, Japan, 12/16/12. https://doi.org/10.1109/SII.2012.6426955

@inproceedings{997558f0329e4d2bb0cb60429f56e6f7,

title = "Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking",

abstract = "In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability (DM) ellipsoid describes a distribution of hand acceleration produced by normalized joint torque. On the other hand, Reconfiguration Manipulability (RM) ellipsoid denotes a distribution of each link velocity produced by joint angular velocity. This paper shows new index of Dynamic Reconfiguration Manipulability (DRM) combined DM and RM, and we have adopted the DRM to a humanoid robot, exhibiting how the DRM indicates directly the configuration-changeability of walking humanoid robot.",

author = "Yosuke Kobayashi and Mamoru Minami and Akira Yanou and Tomohide Maeba",

year = "2012",

month = dec,

day = "1",

doi = "10.1109/SII.2012.6426955",

language = "English",

isbn = "9781467314961",

series = "2012 IEEE/SICE International Symposium on System Integration, SII 2012",

pages = "73--78",

booktitle = "2012 IEEE/SICE International Symposium on System Integration, SII 2012",

note = "2012 IEEE/SICE International Symposium on System Integration, SII 2012 ; Conference date: 16-12-2012 Through 18-12-2012",

}

TY - GEN

T1 - Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking

AU - Kobayashi, Yosuke

AU - Minami, Mamoru

AU - Yanou, Akira

AU - Maeba, Tomohide

PY - 2012/12/1

Y1 - 2012/12/1

N2 - In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability (DM) ellipsoid describes a distribution of hand acceleration produced by normalized joint torque. On the other hand, Reconfiguration Manipulability (RM) ellipsoid denotes a distribution of each link velocity produced by joint angular velocity. This paper shows new index of Dynamic Reconfiguration Manipulability (DRM) combined DM and RM, and we have adopted the DRM to a humanoid robot, exhibiting how the DRM indicates directly the configuration-changeability of walking humanoid robot.

AB - In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability (DM) ellipsoid describes a distribution of hand acceleration produced by normalized joint torque. On the other hand, Reconfiguration Manipulability (RM) ellipsoid denotes a distribution of each link velocity produced by joint angular velocity. This paper shows new index of Dynamic Reconfiguration Manipulability (DRM) combined DM and RM, and we have adopted the DRM to a humanoid robot, exhibiting how the DRM indicates directly the configuration-changeability of walking humanoid robot.

UR - http://www.scopus.com/inward/record.url?scp=84874282008&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84874282008&partnerID=8YFLogxK

U2 - 10.1109/SII.2012.6426955

DO - 10.1109/SII.2012.6426955

M3 - Conference contribution

AN - SCOPUS:84874282008

SN - 9781467314961

T3 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012

SP - 73

EP - 78

BT - 2012 IEEE/SICE International Symposium on System Integration, SII 2012

T2 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012

Y2 - 16 December 2012 through 18 December 2012

ER -