A humanoid robot that breaks wooden boards applying impulsive force

Takaaki Matsumoto, Atsushi Konno, Linlin Gou, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    11 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    Pages5919-5924
    Number of pages6
    DOIs
    Publication statusPublished - 2006 Dec 1
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
    Duration: 2006 Oct 92006 Oct 15

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    CountryChina
    CityBeijing
    Period06/10/906/10/15

    Keywords

    • Humanoid robot
    • Impact motion

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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