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Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism
Applied Sciences, Volume: 11, Issue: 6, Start page: 2607
Swansea University Author: Daniele Cafolla
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© 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
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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...
Published in: | Applied Sciences |
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ISSN: | 2076-3417 |
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MDPI AG
2021
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URI: | https://cronfa.swan.ac.uk/Record/cronfa62496 |
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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 |
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facultyofscienceandengineering |
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Faculty of Science and Engineering |
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facultyofscienceandengineering |
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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 |
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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 |
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1763754460935356416 |
score |
11.035349 |