Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity

Haiwei Dong; Zhiwei Luo; Akinori Nagano

doi:10.20965/jrm.2010.p0418

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JRM Vol.22 No.4 pp. 418-429

doi: 10.20965/jrm.2010.p0418

(2010)

Paper:

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Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity

Haiwei Dong, Zhiwei Luo, and Akinori Nagano

Department of Computational Science, Graduate School of System Informatics, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan

Received:

December 14, 2009

Accepted:

April 13, 2010

Published:

August 20, 2010

Keywords:

human body, model reduction, adaptive attitude control, human parameters identification

Abstract

With the development of human society, there are more and more elderly people need to be taken care of. However, there is not enough labor force to take the nursing jobs. Nowadays robots play more and more important roles in our daily life, especially in nursing activities. In this paper, we illustrate a new attitude control approach to lift human regardless of the individual differences, such as height, weight, and so on. In detail, considering our daily experience that only very few joints are critical for accomplishing the lifting up task, we treats the human body as a redundant system. We use robust adaptive control to eliminate the effects from the “uninterested joints” and identify the human parameters in real time. In addition, the convergence analysis, including tracking time and track error, is also given. The approach is simulated by lifting a human skeleton with two robot arms, which verifies the efficiency and effectiveness of our strategy.

Cite this article as:

Haiwei Dong, Zhiwei Luo, and Akinori Nagano, “Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity,” J. Robot. Mechatron., Vol.22, No.4, pp. 418-429, 2010.

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References

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[3] R. Takeda, K. Nakadai, T. Takahashi, K. Komatani, T. Ogata, and H. G. Okuno, “Automatic Estimation of Reverberation Time with Robot Speech to Improve ICA-based Robot Audition,” Proc. of IEEE-RAS Int. Conf. on Humanoid Robotics, 2009.
[4] Z. W. Luo et al., “On Cooperative Manipulation of Dynamic Object.,” Advanced Robotics, Vol.10, pp. 621-636, 1996.
[5] F. Asano et al. “Dynamic Modeling and Control for Whole Body Manipulation,” Proc. of IEEE Int. Conf. of Robotics and Automation, 2003.
[6] P. Song, M. Yashima, and V. Kuma, “Dyanmics and Control of Whole Arm Graps,” Proc. of Int. Conf. on Robotics and Automation, 2001.
[7] T. Mukai et al., “Development of The Tactile Sensor System of A Human Interactive Robot ‘RI-MAN,’” IEEE Trans. on Robotics, Vol.24, pp. 502-512, 2008.
[8] M. Onishi et al. “Generation of Human Care Behaviors by Humaninteractive Robot RI-MAN,” Proc. of IEEE Int. Conf. on Robotics and Automation, 2007.
[9] T. Odashima et al. “A Soft Human-interactive Robot RI-MAN,” Video Proc. of Inter. Conf. on Intelligent Robots and Systems, 2006.
[10] Y. Umetani and K. Yoshida, “Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix,” IEEE Trans. on Robotics and Automation, Vol.5, pp. 303-314, 1989.
[11] K. Yoshida and Y. Umetani, “Control of Space Manipulators with Generalized Jacobian Mtrix,” Space Robotics: Dynamics and Control, pp. 165-204, 1992.
[12] A. Nagano, R. Himeno, and S. Fukashiro, “An Introduction to Three-dimensional Rigid Body Dynamics: Vol.4 Simulation Using An Assisting Software Package,” Japanse J. of Biomechanics in Sports and Exercise, Vol.8, pp. 209-223, 2004.
[13] A. Nagano et al., “A Three-dimensional Linked Segment Model of TheWhole Human Body,” Int. J. of Sport and Health Science, Vol.3, pp. 311-325, 2005.
[14] F. C. Anderson and M. G. Pandy, “A Dynamic Optimization Solution for Vertical Jumping in Three Dimensions,” Computer Methods in Biomechanics and Biomechanical Engineering, Vol.2, pp. 201-231, 1999.
[15] T. R. Kane and D. A. Levinson, “Dynamics: Theory and Applications,” McGraw-Hill, 1985.

[1] [1] P. Padetsky, “The Man Who Mastered Motion,” Science, Vol.7, pp. 52-60, 1986.

[2] [2] T. Yamamoto, K. Terada, and Y. Kuniyoshi, “Lifting Techniques for the Humanoid Robots: Insight from Human Movements,” Proc. of IEEE-RAS Inter. Conf. on Humanoid Robotics, pp. 251-258, 2008.

[3] [3] R. Takeda, K. Nakadai, T. Takahashi, K. Komatani, T. Ogata, and H. G. Okuno, “Automatic Estimation of Reverberation Time with Robot Speech to Improve ICA-based Robot Audition,” Proc. of IEEE-RAS Int. Conf. on Humanoid Robotics, 2009.

[4] [4] Z. W. Luo et al., “On Cooperative Manipulation of Dynamic Object.,” Advanced Robotics, Vol.10, pp. 621-636, 1996.

[5] [5] F. Asano et al. “Dynamic Modeling and Control for Whole Body Manipulation,” Proc. of IEEE Int. Conf. of Robotics and Automation, 2003.

[6] [6] P. Song, M. Yashima, and V. Kuma, “Dyanmics and Control of Whole Arm Graps,” Proc. of Int. Conf. on Robotics and Automation, 2001.

[7] [7] T. Mukai et al., “Development of The Tactile Sensor System of A Human Interactive Robot ‘RI-MAN,’” IEEE Trans. on Robotics, Vol.24, pp. 502-512, 2008.

[8] [8] M. Onishi et al. “Generation of Human Care Behaviors by Humaninteractive Robot RI-MAN,” Proc. of IEEE Int. Conf. on Robotics and Automation, 2007.

[9] [9] T. Odashima et al. “A Soft Human-interactive Robot RI-MAN,” Video Proc. of Inter. Conf. on Intelligent Robots and Systems, 2006.

[10] [10] Y. Umetani and K. Yoshida, “Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix,” IEEE Trans. on Robotics and Automation, Vol.5, pp. 303-314, 1989.

[11] [11] K. Yoshida and Y. Umetani, “Control of Space Manipulators with Generalized Jacobian Mtrix,” Space Robotics: Dynamics and Control, pp. 165-204, 1992.

[12] [12] A. Nagano, R. Himeno, and S. Fukashiro, “An Introduction to Three-dimensional Rigid Body Dynamics: Vol.4 Simulation Using An Assisting Software Package,” Japanse J. of Biomechanics in Sports and Exercise, Vol.8, pp. 209-223, 2004.

[13] [13] A. Nagano et al., “A Three-dimensional Linked Segment Model of TheWhole Human Body,” Int. J. of Sport and Health Science, Vol.3, pp. 311-325, 2005.

[14] [14] F. C. Anderson and M. G. Pandy, “A Dynamic Optimization Solution for Vertical Jumping in Three Dimensions,” Computer Methods in Biomechanics and Biomechanical Engineering, Vol.2, pp. 201-231, 1999.

[15] [15] T. R. Kane and D. A. Levinson, “Dynamics: Theory and Applications,” McGraw-Hill, 1985.