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 proceedingConference 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 languageEnglish
Title of host publication2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages73-78
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan
Duration: Dec 16 2012Dec 18 2012

Publication series

Name2012 IEEE/SICE International Symposium on System Integration, SII 2012

Other

Other2012 IEEE/SICE International Symposium on System Integration, SII 2012
CountryJapan
CityFukuoka
Period12/16/1212/18/12

ASJC Scopus subject areas

  • Information Systems

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  • Cite this

    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 (pp. 73-78). [6426955] (2012 IEEE/SICE International Symposium on System Integration, SII 2012). https://doi.org/10.1109/SII.2012.6426955