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Development of a Low-Noise Bio-Inspired Humanoid Robot Neck
Published in Yunhui Liu, Dong Sun, Biologically Inspired, 2017
Bingtuan Gao, Ning Xi, Jianguo Zhao, Jing Xu
Although many humanoid neck mechanisms have been developed by different institutions, they can be divided into two categories; that is, the serial neck and parallel neck. Serial necks are the more common mechanisms due to their simple structure and the ease of DC motor control. The HRP-2 (Hirukawa et al. 2004) has a two-degrees-of-freedom (DOF) serial neck including pitch and yaw. The Albert HUBO (Park et al. 2008), the Dav (Han et al. 2002), and the iCub (Beira et al. 2006) have 3-DOF serial necks. The WE-4 (Miwa et al. 2002), the ARMAR-III (Albers et al. 2006), the WABIAN-RIV (Carbone et al. 2006), and the ROMAN (Hirth, Schmitz, and Berns 2007) have 4-DOF serial necks. The parallel neck can be divided into three subcategories; that is, Stewart-like necks, spring-based necks, and spherical necks. The main structure of Stewart-like necks is a Stewart platform (Beira et al. 2006), which needs a passive spine and is controlled by several legs with a combination of universal, prismatic, and spherical joints. The actuators for the parallel necks can be DC motors or pneumatic cylinders. Parallel mechanisms have the characteristics of rigidity, high load capacity, and high precision; however, it is hard to achieve a large range of motion and they are not suitable for use in limited neck space. The motion of a spherical neck is based on a spherical joint. Using screw theory, Sabater et al. (2006) designed and analyzed a spherical humanoid neck. A spring neck uses a spring as the spine to support the head and facilitate its motion. A spring neck is usually driven by motors (Beira et al. 2006; Nori et al. 2007) and artificial muscles (Hashimoto et al. 2006). According to previous investigations, a spring neck is similar to a real human neck and it is economical to build; however, it is hard to achieve high precision positioning control because of the complicated dynamics of the springs.
Intelligent, Adaptive Humanoids for Human Assistance
Published in Marina Indri, Roberto Oboe, Mechatronics and Robotics, 2020
Darwin G Caldwell, Arash Ajoudani, Jinoh Lee, Nikos Tsagarakis
For over 2 years, the DRC [34] formed a focus for many of the leading robotics groups working on humanoid technology and included the Atlas robot (a hydraulic humanoid designed and developed by Boston Dynamics), several variants of the HuBO, and WalkMan, a further evolution of the iCub/cCub/COMAN. Some of these robots are the current manifestation of a long developmental trend and will point to the future of intelligent assistive humanoid technology.
A real-time optimal energy-saving walking pattern generator based on gradient descent method and linear quadratic control
Published in Advanced Robotics, 2019
Huan-Kun Hsu, Han-Pang Huang, Ming-Bao Huang
In recent years, the humanoid robot has become a popular research topic. Such robots use more complex multi-axis control systems than mobile robots do, so they must overcome the problem of stability while walking; however, they are adaptable to many more terrain types. Many different approaches have been proposed to achieve stable biped walking, such as ASIMO [1], the HRP series [2,3], WABIAN [4], HUBO [5], and Nino [6].