2018年7月
High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot
IEEE Robotics and Automation Letters
- ,
- ,
- ,
- ,
- 巻
- 3
- 号
- 3
- 開始ページ
- 1727
- 終了ページ
- 1734
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1109/LRA.2018.2803207
Sports, especially badminton, require participants to perform dynamic and skillful motions. Previous robots have had difficulty in performing like a human because of their severe limitations of low operating speed, heavy bodies, and simplistic mechanisms. In this letter, we propose a new robot design that consists of a structure integrated with pneumatic actuators and noninterfering many-degree-of-freedom joints, for the realization of a high-speed and lightweight humanoid robot. We made a four-degree-of-freedom robot arm for badminton, which is an especially dynamic sport, aiming for maximum speed while meeting geometric requirements. The robot swung with a racket-head speed of 21 m/s, which is a value higher than speeds achieved by previous robotic arms. The robot also realized a skillful shot, namely the spin net shot, which cannot be performed by previous badminton robots having simple mechanisms. A pneumatic robot is considered difficult to control, especially in terms of feedback control. We found that the reproducibility of the robot was as fine as 10-40 mm at the racket head for four kinds of strong swings. Using feedforward control, we also conducted an experiment in which the robot hits a flying shuttle, and achieved a high hitting rate of 69.7% for powerful swings. We believe that this research expands the possibilities of the pneumatic robot and is the first step toward developing a skillful humanoid badminton robot.
- リンク情報
-
- DOI
- https://doi.org/10.1109/LRA.2018.2803207
- DBLP
- https://dblp.uni-trier.de/rec/journals/ral/MoriTNNK18
- Scopus
- https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85063309832&origin=inward
- Scopus Citedby
- https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85063309832&origin=inward
- URL
- https://dblp.uni-trier.de/db/journals/ral/ral3.html#MoriTNNK18
- ID情報
-
- DOI : 10.1109/LRA.2018.2803207
- eISSN : 2377-3766
- DBLP ID : journals/ral/MoriTNNK18
- SCOPUS ID : 85063309832