NDLI: A Humanoid Robot that Breaks Wooden Boards Applying Impulsive Force

Content Provider	IEEE Xplore Digital Library
Author	Matsumoto, T. Konno, A. Gou, L. Uchiyama, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Aerosp. Eng., Tohoku Univ., Sendai (Matsumoto, T.; Konno, A.; Gou, L.; Uchiyama, M.)
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 Karate-chop. 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
Starting Page	5919
Ending Page	5924
File Size	1665980
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282473
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Humans Biological system modeling Manipulator dynamics Stability Force measurement Legged locomotion Intelligent robots Testing Torque Humanoid robot Impact motion
Content Type	Text
Resource Type	Article

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