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 -