TY - GEN
T1 - Pneumatic Humanoid Robot with Adsorption Mechanisms on the Sole to Realize a Stepping Motion in Badminton
AU - Yoshida, Ryuji
AU - Kiguchi, Kazuo
AU - Nishikawa, Satoshi
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
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U2 - 10.1109/Humanoids57100.2023.10375201
DO - 10.1109/Humanoids57100.2023.10375201
M3 - Conference contribution
AN - SCOPUS:85182945381
T3 - IEEE-RAS International Conference on Humanoid Robots
BT - 2023 IEEE-RAS 22nd International Conference on Humanoid Robots, Humanoids 2023
PB - IEEE Computer Society
T2 - 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023
Y2 - 12 December 2023 through 14 December 2023
ER -