A humanoid robot that breaks wooden boards applying impulsive force

被引：10

作者：

Matsumoto, Takaaki ^{[1
]}

Konno, Atsushi ^{[1
]}

Gou, Linlin ^{[1
]}

Uchiyama, Masaru ^{[1
]}

机构：

[1] Tohoku Univ, Dept Aerosp Engn, Aobayama 6-6-01, Sendai, Miyagi 9808579, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

impact motion; humanoid robot;

D O I：

10.1109/IROS.2006.282473

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

When a human needs to generate a large force, the human will try to apply an impulsive force cooperating whole body. However, exerting impulsive force is one of the most difficult tasks for humanoid robots, because a reaction force caused by the applied impulsive force may bring the humanoid robot down. This paper discusses a humanoid robot motion to generate a large force utilizing an impact. Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is carefully designed to maximize the speed of a hand keeping the stability. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. In the experiments, three kinds of wooden boards are tested to break by the Karate-chop. The strength of wooden boards is estimated striking the boards with a free-falling plummet. Stabilizing control is also applied to the robot in order to stabilize the body after the impact. The experimentation results are reported in the paper.

引用

页码：5919 / +

页数：2

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