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Development of Seahorse Robot Capable of Expressing Happiness, Sadness and Anger
Keisuke Sayama,Yuki Suzuki,Hun-ok Lim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes the mechanism and the control system of a seahorse robot that is able to express happiness, sadness and anger. MP motion sensors (Pyroelectric Motion Detection Sensor), force sensors, and color sensors are employed to express emotion. The seahorse robot consists of a base, a body and a head. It has 4 DOFs (2 DOFs in the head and 2 DOFs in the body) and it weighs 800 [g]. Emotion expression experiments are conducted to confirm the mechanism and the control system of the robot and are evaluated by ten subjects. After they watch the body color and motion), they select one of five emotions. The effectiveness of the mechanism and the control of the robot are verified through emotion experiments.
Mechanisms of Biped Humanoid Robot and Online Walking Pattern Generation
Kouhei Yamada,Keisuke Sayama,Tetsuya Yoshida,Hun-ok Lim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes the mechanism of a biped humanoid robot, KBHR (Kanagawa Biped Robot-2), that has large moveable angles similar to humans’. The KBHR has 29 degrees of freedom (DOF) (two 6 DOF legs, a 3 DOF waist and two 7 DOF arms). Also, an online walking pattern generation method for a biped humanoid robot based on preview control is proposed. Depending on the walking parameters (step length, height, etc.), a pre-3-step pattern is created, and one step of the 3-step pattern is selected for one step of the robot. Using KBHR, various walking experiments are conducted, and the effectiveness of the mechanism and the online walking pattern generation method is confirmed.
Mechanism of One-Legged Jumping Robot With Artificial Musculoskeletal System
Hideki Iijima,Keisuke Sayama,Hiroyuki Masuta,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper describes the mechanism and vertical jumping pattern of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.