Kinematics Analysis of Serial-Parallel Hybrid Humanoid Robot in Reaching Movement

Li Qin; Fucai Liu; Tiantian Hou; Lihuan Liang

doi:10.20965/jrm.2014.p0592

single-rb.php

« previous

JRM Vol.26 No.5 pp. 592-599

doi: 10.20965/jrm.2014.p0592

(2014)

Paper:

Views over last 60 days: 1,159

Kinematics Analysis of Serial-Parallel Hybrid Humanoid Robot in Reaching Movement

Li Qin, Fucai Liu, Tiantian Hou, and Lihuan Liang

Key Lab of Industrial Computer Control Engineering of Hebei Province, 438, Hebei Main Street West, Harbor District, Qinhuangdao, China

Received:

April 16, 2014

Accepted:

July 26, 2014

Published:

October 20, 2014

Keywords:

hybrid humanoid manipulator, kinematics analysis, human-like posture, fuzzy logic compensator

Abstract

Serial-parallel hybrid robot

As the demand to the practical operation ability of humanoid robots improving, serial-parallel hybrid structure has started to be used in the research of humanoid robot. However, analytical solutions of the forward and inverse kinematics are hard to obtain due to the redundancy of humanoid robot and the complex topology of hybrid structure. Besides, humanoid robots should have the capability to complete complicated operation in the low structured task workspace. So, it should have not only the humanoid shape but also the behavior that adapts to the direct interaction with people. In this work, a novel 4-DOF hybrid humanoid robot was taken as an example, the forward kinematics equation was derived, the theory of screws and lie group and lie algebra were applied to calculate the end velocity. A numerical calculation method based on neurophysiology sensorimotor transformation model and fuzzy logic compensator was proposed to solve the inverse kinematics in reaching movement. The proposed strategy can make the robot execute reaching movements with human-like posture. Simulation and test results validate the effectiveness respectively.

Cite this article as:

L. Qin, F. Liu, T. Hou, and L. Liang, “Kinematics Analysis of Serial-Parallel Hybrid Humanoid Robot in Reaching Movement,” J. Robot. Mechatron., Vol.26 No.5, pp. 592-599, 2014.

Data files:

References

[1] H. Kondo, Y. Ogura, K. Shimomura, S. Momoki, T. Okubo, H. Lim, and A. Takanishi, “Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion,” J. of Robotics and Mechatronics, Vol.20, No.5, pp. 739-749, 2008.
[2] T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, and K. Maruyama, “Grasp Planning for a Multifingered Hand with a Humanoid Robot,” J. of Robotics and Mechatronics, Vol.22, No.2, pp. 230-238, 2010.
[3] L. Bridgwaterl et al., “The Robonant 2 Hand - Designed to do work with tools,” Proc. the IEEE Int. Conf. of Robotics and Automation, Saint Paul USA, pp. 3425- 3430, 2012.
[4] D. Pisla, A. Szilaghyi, C. Vaidaand, and N. Plitea, “Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery,” Robotics and Computer-Integrated Manufacturing, Vol.29, No.2, pp. 463-474, 2013.
[5] H. Liu, T. Huang, J. Mei et al., “Kinematic Design of a 5-DOF Hybrid Robot with LargeWorkspace/Limb-Stroke Ratio,” J. of Mechanical Design, Vol.129, No.5, pp. 530-537, 2007.
[6] Z. Jin, Y. Li, and Y. Wang, “A novel 6- DOF hybrid anthropopathic mechanical arm and its position analysis,” China Mechanical Engineering, Vol.20, No.3, pp. 280-284, 2009.
[7] J. Yang and F. Gao. “Classification of Sitting States for the Humanoid Robot SJTU-HR1,” J. of Bionic Engineering. Vol.8, pp. 49-55, 2011.
[8] Z. Ren, Z. Wang, J. Li, and L. Sun, “Inverse kinematics solution for robot manipulator based on hybrid electromagnetism-like mechanism algorithm,” J. of mechanical engineering, Vol.48, No.13, pp. 21-28, 2012.
[9] F. Yang, H. Li, Y. Wang, and P. Chen, “An optimization method for solving the inverse kinematics of redundant manipulator,” Robot, Vol.34, No.1, pp. 17-21, 31, 2012.
[10] B. Sicilian and L. Sciavicco, “Robotics,” Spinger-Verlag Londow Limited, 2009.
[11] T. Asfour and P. Azad, “Imitation learning of dual-arm manipulation tasks in humanoid robots,” Int. J. of Humanoid Robotics, Vol.5, No.2, pp. 183-202, 2008.
[12] J. Soechting and M. Flanders, “Sensorimotor representations for pointing to targets in three-dimensional space,” J. of neurophysiology, Vol.62, No.2, pp. 582-594, 1989.
[13] J. Gallardo-Alvarado, J. M. Rico-Martínez, and G. Alici, “Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory,” Mechanism and Machine Theory, Vol.41, pp. 1048-1061, 2006.
[14] S. Lohmeier, T. Buschmann, and H. Ulbrich, “Modular joint design for performance enhanced humanoid robot LOLA,” IEEE Int. Conf. on Robotics and Automation, Piscataway, NJ, USA, pp. 88-93, 2006.
[15] B. Pan, Y. Fu, and Z. Yang, “Efficient inverse kinematics solution for redundant robots to real time control,” Control and Decision, Vol.24, No.2, pp. 176-180, 2009.
[16] Y. Tian, X. Chen, D. Jia, and Q. Huang, “Design and kinematic analysis of a light weight and high stiffness manipulator for humanoid robots,” Robot, Vol.33, No.3, pp. 332-339, 2011.
[17] K. Harada, M. Morisawa, S. Nakaoka, K. Kaneko, and S. Kajita, “Kinodynamic planning for humanoid robots walking on uneven terrain,” J. of Robotics and Mechatronics, Vol.21, No.3, pp. 311-316, 2009.
[18] S. Kajita, “Humanoid robots,” Tsinghua University Press, 2007.
[19] C. L. Jing, Z. S. Li, and F. Z. Xue, “Fuzzy Adaptive Algorithm for Biped Robot Inverse Kinematics,” Robot, Vol.32, No.4, pp. 534-546, 2010.
[20] J. Soechting and M. Flanders, “Sensorimotor representations for pointing to targets in three-dimensional space,” J. of neurophysiology, Vol.62, No.2, pp. 582-594, 1989.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] H. Kondo, Y. Ogura, K. Shimomura, S. Momoki, T. Okubo, H. Lim, and A. Takanishi, “Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion,” J. of Robotics and Mechatronics, Vol.20, No.5, pp. 739-749, 2008.

[2] [2] T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, and K. Maruyama, “Grasp Planning for a Multifingered Hand with a Humanoid Robot,” J. of Robotics and Mechatronics, Vol.22, No.2, pp. 230-238, 2010.

[3] [3] L. Bridgwaterl et al., “The Robonant 2 Hand - Designed to do work with tools,” Proc. the IEEE Int. Conf. of Robotics and Automation, Saint Paul USA, pp. 3425- 3430, 2012.

[4] [4] D. Pisla, A. Szilaghyi, C. Vaidaand, and N. Plitea, “Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery,” Robotics and Computer-Integrated Manufacturing, Vol.29, No.2, pp. 463-474, 2013.

[5] [5] H. Liu, T. Huang, J. Mei et al., “Kinematic Design of a 5-DOF Hybrid Robot with LargeWorkspace/Limb-Stroke Ratio,” J. of Mechanical Design, Vol.129, No.5, pp. 530-537, 2007.

[6] [6] Z. Jin, Y. Li, and Y. Wang, “A novel 6- DOF hybrid anthropopathic mechanical arm and its position analysis,” China Mechanical Engineering, Vol.20, No.3, pp. 280-284, 2009.

[7] [7] J. Yang and F. Gao. “Classification of Sitting States for the Humanoid Robot SJTU-HR1,” J. of Bionic Engineering. Vol.8, pp. 49-55, 2011.

[8] [8] Z. Ren, Z. Wang, J. Li, and L. Sun, “Inverse kinematics solution for robot manipulator based on hybrid electromagnetism-like mechanism algorithm,” J. of mechanical engineering, Vol.48, No.13, pp. 21-28, 2012.

[9] [9] F. Yang, H. Li, Y. Wang, and P. Chen, “An optimization method for solving the inverse kinematics of redundant manipulator,” Robot, Vol.34, No.1, pp. 17-21, 31, 2012.

[10] [10] B. Sicilian and L. Sciavicco, “Robotics,” Spinger-Verlag Londow Limited, 2009.

[11] [11] T. Asfour and P. Azad, “Imitation learning of dual-arm manipulation tasks in humanoid robots,” Int. J. of Humanoid Robotics, Vol.5, No.2, pp. 183-202, 2008.

[12] [12] J. Soechting and M. Flanders, “Sensorimotor representations for pointing to targets in three-dimensional space,” J. of neurophysiology, Vol.62, No.2, pp. 582-594, 1989.

[13] [13] J. Gallardo-Alvarado, J. M. Rico-Martínez, and G. Alici, “Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory,” Mechanism and Machine Theory, Vol.41, pp. 1048-1061, 2006.

[14] [14] S. Lohmeier, T. Buschmann, and H. Ulbrich, “Modular joint design for performance enhanced humanoid robot LOLA,” IEEE Int. Conf. on Robotics and Automation, Piscataway, NJ, USA, pp. 88-93, 2006.

[15] [15] B. Pan, Y. Fu, and Z. Yang, “Efficient inverse kinematics solution for redundant robots to real time control,” Control and Decision, Vol.24, No.2, pp. 176-180, 2009.

[16] [16] Y. Tian, X. Chen, D. Jia, and Q. Huang, “Design and kinematic analysis of a light weight and high stiffness manipulator for humanoid robots,” Robot, Vol.33, No.3, pp. 332-339, 2011.

[17] [17] K. Harada, M. Morisawa, S. Nakaoka, K. Kaneko, and S. Kajita, “Kinodynamic planning for humanoid robots walking on uneven terrain,” J. of Robotics and Mechatronics, Vol.21, No.3, pp. 311-316, 2009.

[18] [18] S. Kajita, “Humanoid robots,” Tsinghua University Press, 2007.

[19] [19] C. L. Jing, Z. S. Li, and F. Z. Xue, “Fuzzy Adaptive Algorithm for Biped Robot Inverse Kinematics,” Robot, Vol.32, No.4, pp. 534-546, 2010.

[20] [20] J. Soechting and M. Flanders, “Sensorimotor representations for pointing to targets in three-dimensional space,” J. of neurophysiology, Vol.62, No.2, pp. 582-594, 1989.