TY - GEN
T1 - A humanoid robot that breaks wooden boards applying impulsive force
AU - Matsumoto, Takaaki
AU - Konno, Atsushi
AU - Gou, Linlin
AU - Uchiyama, Masaru
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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 Karatechop. 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.
AB - 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 Karatechop. 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.
KW - Humanoid robot
KW - Impact motion
UR - http://www.scopus.com/inward/record.url?scp=34250642713&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250642713&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282473
DO - 10.1109/IROS.2006.282473
M3 - Conference contribution
AN - SCOPUS:34250642713
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5919
EP - 5924
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -