Achievement of Pedaling Manipulation Based on Cooperative System for Active Leg and Passive Leg by Tendon-driven Humanoid

Achievement of Pedaling Manipulation Based on Cooperative System for Active Leg and Passive Leg by Tendon-driven Humanoid

In this research, we aim at pedaling manipulation task by humanoid. Control strategy for pedaling has the difficult problems to be solved, for example closed-loop and multipoint-contact dynamical systems. For this background, we contribute 2-legs functional controller component which is classified t...

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Veröffentlicht in:Keisoku Jidō Seigyo Gakkai ronbunshū 2016, Vol.52(8), pp.428-436
Hauptverfasser: KIMURA, Kohei, ASANO, Yuki, KOZUKI, Toyotaka, SHIRAI, Takuma, OKADA, Kei, INABA, Masayuki
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Sprache:eng ; jpn
Schlagworte:
cooperativity
manipulability
pedaling manipulation
tendon-driven humanoid
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container_end_page 436
container_issue 8
container_start_page 428
container_title Keisoku Jidō Seigyo Gakkai ronbunshū
container_volume 52
creator KIMURA, Kohei
ASANO, Yuki
KOZUKI, Toyotaka
SHIRAI, Takuma
OKADA, Kei
INABA, Masayuki
description In this research, we aim at pedaling manipulation task by humanoid. Control strategy for pedaling has the difficult problems to be solved, for example closed-loop and multipoint-contact dynamical systems. For this background, we contribute 2-legs functional controller component which is classified to “Active-Leg” and “Passive-Leg”. “Active-Leg” is the leg that drives crank without slipping from the pedal, and “Passive-Leg” is the leg that avoids pedal by detecting force change. These functional legs realize the unilateral and cooperative manipulation. Then we generally discuss these manipulability and reveal the characteristics for humanlike tendon-driven humanoid.
doi_str_mv 10.9746/sicetr.52.428
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source Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals
subjects cooperativity
manipulability
pedaling manipulation
tendon-driven humanoid
title Achievement of Pedaling Manipulation Based on Cooperative System for Active Leg and Passive Leg by Tendon-driven Humanoid
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