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Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism

Matteo Russo Orcid Logo, Marco Ceccarelli Orcid Logo, Daniele Cafolla Orcid Logo

Applied Sciences, Volume: 11, Issue: 6, Start page: 2607

Swansea University Author: Daniele Cafolla Orcid Logo

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DOI (Published version): 10.3390/app11062607

Abstract

This paper introduces a novel kinematic model for a tendon-driven compliant torso mechanism for humanoid robots, which describes the complex behaviour of a system characterised by the interaction of a complex compliant element with rigid bodies and actuation tendons. Inspired by a human spine, the p...

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Published in: Applied Sciences
ISSN: 2076-3417
Published: MDPI AG 2021
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URI: https://cronfa.swan.ac.uk/Record/cronfa62496
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first_indexed 2023-03-01T15:18:22Z
last_indexed 2023-03-02T04:17:37Z
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spelling 2023-03-01T15:21:51.8094275 v2 62496 2023-02-03 Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS This paper introduces a novel kinematic model for a tendon-driven compliant torso mechanism for humanoid robots, which describes the complex behaviour of a system characterised by the interaction of a complex compliant element with rigid bodies and actuation tendons. Inspired by a human spine, the proposed mechanism is based on a flexible backbone whose shape is controlled by two pairs of antagonistic tendons. First, the structure is analysed to identify the main modes of motion. Then, a constant curvature kinematic model is extended to describe the behaviour of the torso mechanism under examination, which includes axial elongation/compression and torsion in addition to the main bending motion. A linearised stiffness model is also formulated to estimate the static response of the backbone. The novel model is used to evaluate the workspace of an example mechanical design, and then it is mapped onto a controller to validate the results with an experimental test on a prototype. By replacing a previous approximated model calibrated on experimental data, this kinematic model improves the accuracy and efficiency of the torso mechanism and enables the performance evaluation of the robot over the reachable workspace, to ensure that the tendon-driven architecture operates within its wrench-closure workspace. Journal Article Applied Sciences 11 6 2607 MDPI AG 2076-3417 humanoid robotics; assistive robotics; service robotics; mechanism design; kinematics; cable-driven robots; compliant mechanisms; underactuated mechanisms; motion analysis; workspace 15 3 2021 2021-03-15 10.3390/app11062607 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University This work was funded by a grant from Ministero della Salute (Ricerca Corrente 2021). 2023-03-01T15:21:51.8094275 2023-02-03T14:16:40.0882860 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Matteo Russo 0000-0002-8825-8983 1 Marco Ceccarelli 0000-0001-9388-4391 2 Daniele Cafolla 0000-0002-5602-1519 3 62496__26717__e8f2053224264698ade314f67652be5b.pdf 62496_VoR.pdf 2023-03-01T15:19:06.3072095 Output 9841623 application/pdf Version of Record true © 2021 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng https://creativecommons.org/licenses/by/4.0/
title Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
spellingShingle Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
Daniele Cafolla
title_short Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
title_full Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
title_fullStr Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
title_full_unstemmed Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
title_sort Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
author_id_str_mv ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Daniele Cafolla
author2 Matteo Russo
Marco Ceccarelli
Daniele Cafolla
format Journal article
container_title Applied Sciences
container_volume 11
container_issue 6
container_start_page 2607
publishDate 2021
institution Swansea University
issn 2076-3417
doi_str_mv 10.3390/app11062607
publisher MDPI AG
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description This paper introduces a novel kinematic model for a tendon-driven compliant torso mechanism for humanoid robots, which describes the complex behaviour of a system characterised by the interaction of a complex compliant element with rigid bodies and actuation tendons. Inspired by a human spine, the proposed mechanism is based on a flexible backbone whose shape is controlled by two pairs of antagonistic tendons. First, the structure is analysed to identify the main modes of motion. Then, a constant curvature kinematic model is extended to describe the behaviour of the torso mechanism under examination, which includes axial elongation/compression and torsion in addition to the main bending motion. A linearised stiffness model is also formulated to estimate the static response of the backbone. The novel model is used to evaluate the workspace of an example mechanical design, and then it is mapped onto a controller to validate the results with an experimental test on a prototype. By replacing a previous approximated model calibrated on experimental data, this kinematic model improves the accuracy and efficiency of the torso mechanism and enables the performance evaluation of the robot over the reachable workspace, to ensure that the tendon-driven architecture operates within its wrench-closure workspace.
published_date 2021-03-15T04:22:09Z
_version_ 1763754460935356416
score 11.036706

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