TY - GEN
T1 - Pole vaulting robot with dual articulated arms that can change reaching position using active bending motion
AU - Nishikawa, Satoshi
AU - Kobayashi, Tomohiro
AU - Fukushima, Toshihiko
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/22
Y1 - 2015/12/22
N2 - Elasticity is an important factor in enhancing the physical capabilities of robots. Pole vaulting is an interesting task because a large elastic pole changes the trajectory of the robot drastically. Moreover, the robot can change its behavior by manipulating the flexible pole during a long pole-support phase. In this study, we investigated how the reaching point of pole vaulting was changed by an active bending motion because it is important for robots to move to the desired place. To examine the effect of motion, we used a multiple pendulum model and a robot having dual articulated arms with grippers. Simulation results showed that reaching positions were changed by the switching time of the active bending motion. A relatively late switching time allowed robots to vault to a farther position. However, a very late switching time had the opposite effect. Then, we developed a pole vaulting robot having dual articulated arms with grippers for the application of humanoid robots. Pole vaulting experiments using this robot showed the same tendency in the simulation. These results indicated that the reaching position of pole vaulting could be controlled by the switching time of active bending. Further, the robot reached a height of 1.67 m by releasing the pole.
AB - Elasticity is an important factor in enhancing the physical capabilities of robots. Pole vaulting is an interesting task because a large elastic pole changes the trajectory of the robot drastically. Moreover, the robot can change its behavior by manipulating the flexible pole during a long pole-support phase. In this study, we investigated how the reaching point of pole vaulting was changed by an active bending motion because it is important for robots to move to the desired place. To examine the effect of motion, we used a multiple pendulum model and a robot having dual articulated arms with grippers. Simulation results showed that reaching positions were changed by the switching time of the active bending motion. A relatively late switching time allowed robots to vault to a farther position. However, a very late switching time had the opposite effect. Then, we developed a pole vaulting robot having dual articulated arms with grippers for the application of humanoid robots. Pole vaulting experiments using this robot showed the same tendency in the simulation. These results indicated that the reaching position of pole vaulting could be controlled by the switching time of active bending. Further, the robot reached a height of 1.67 m by releasing the pole.
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U2 - 10.1109/HUMANOIDS.2015.7363564
DO - 10.1109/HUMANOIDS.2015.7363564
M3 - Conference contribution
AN - SCOPUS:84962216609
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 395
EP - 400
BT - Humanoids 2015
PB - IEEE Computer Society
T2 - 15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
Y2 - 3 November 2015 through 5 November 2015
ER -