Title :
Analysis of nailing task motion for a humanoid robot
Author :
Tsujita, Teppei ; Konno, Atsushi ; Komizunai, Shunsuke ; Nomura, Yuki ; Owa, Takuya ; Myojin, Tomoya ; Ayaz, Yasar ; Uchiyama, Masaru
Author_Institution :
Dept. of Aerosp. Eng., Tohoku Univ., Aoba-yama
Abstract :
In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as ldquoimpact motionrdquo. In this research, a nailing task is taken as an example of impact motion. This paper presents a relationship between driving depth and force or impulse and analysis of impulsive force prediction model.
Keywords :
control system analysis; ergonomics; force control; humanoid robots; joining processes; motion control; robot dynamics; service robots; humanoid robot; impact motion; impulsive force prediction model; nailing task motion; Force; Humanoid robots; Joints; Nails; Robots; Tensile stress; Wrist;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651160
