論文

査読有り
2018年7月

High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot

IEEE Robotics and Automation Letters
  • Shotaro Mori
  • ,
  • Kazutoshi Tanaka
  • ,
  • Satoshi Nishikawa
  • ,
  • Ryuma Niiyama
  • ,
  • Yasuo Kuniyoshi

3
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

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