Human Dynamic Skill in High Speed Actions and Its Realization by Robot
Aiguo Ming and Makoto Kajitani
Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-city, Tokyo, 182-8585, Japan
This paper describes human dynamic skill of motion control in high speed actions (e.g. hitting actions) and its application to development of ultra-high-speed manipulator. Human skill is investigated by measuring the motion of human hammering action and analyzing from kinetics, and is called as multi-step acceleration by dynamic coupling drive. According to the results, basic concept for ultra-high-speed manipulator to realize human dynamic skill is given. As a simple example, a golf swing robot with one actuated joint and one passive joint with stopper, and a control method to realize two-step acceleration by dynamic coupling drive are proposed. The effectiveness of the proposed mechanism and control method is confirmed by simulation results.
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