Pneumatic Humanoid Robot with Adsorption Mechanisms on the Sole to Realize a Stepping Motion in Badminton

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

Abstract

Using robots as badminton training partners, the robots preferred to be humanoid in shape. However, existing humanoid robots lack the tipping stability required to perform badminton footwork. In this research, to improve the tipping stability of humanoid robots, we proposed to install adsorption mechanisms on the sole. The robot with three degrees of freedom (DOFs) on one leg was developed as a preliminary step for the evaluation of the mechanisms. First, the basic characteristics of the adsorption mechanisms were evaluated. The evaluation showed that the tipping stability of the robot was improved. In addition, three motions were performed with the developed robot: maintaining a standing posture, stepping forward, and stepping backward. These motions were realized by using a combination of feedforward control and proportional-integral-differential (PID) control. In the forward stepping motion, the robot achieved a quick approach speed of 1.56 m/s. Also, the estimation of the zero moment point (ZMP) during the motion showed that the robot could be prevented from tipping by the adsorption mechanisms.

Original languageEnglish
Title of host publication2023 IEEE-RAS 22nd International Conference on Humanoid Robots, Humanoids 2023
PublisherIEEE Computer Society
ISBN (Electronic)9798350303278
DOIs
Publication statusPublished - 2023
Event22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023 - Austin, United States
Duration: Dec 12 2023Dec 14 2023

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023
Country/TerritoryUnited States
CityAustin
Period12/12/2312/14/23

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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