CONTENTS
4.1 Introduction .................................................................................................. 56
4.2 Basic Concept ................................................................................................ 57
4.2.1 Utilization of Dynamically Coupled Driving .............................. 57
4.2.2 Utilization of Structural Joint Stop ................................................63
4.2.3 Case Study: Mechanism Design of a Golf Swing Robot ............65
4.3 Method to Utilize Dynamically Coupled Driving and Joint Stops ...... 67
4.3.1 Motion Generation and Control Method ..................................... 68
4.3.1.1 Motion Generation ............................................................ 68
4.3.1.2 Control Method ................................................................. 70
4.3.2 Case Study: Motion Generation and Control of a Golf
Swing Robot ...................................................................................... 70
4.4 Simulation and Experimental Results for the Golf Swing Robot ......... 74
4.4.1 Simulation ......................................................................................... 74
4.4.2 Experiments ......................................................................................77
4.5 Conclusion .................................................................................................... 82
References ...............................................................................................................83
4
Human-Inspired Hyper
Dynamic Manipulation
Aiguo Ming and Chunquan Xu
The University of Electro-Communications
Tokyo, Japan
Abstract
Hyper dynamic manipulation is defined as highly skilled manipulation
with hyper motion specifications, as performed by some athletes. Though
hyper dynamic manipulation has been realized in some conventional
robots, how to realize hyper dynamic manipulation by a smart structure
still remains an interesting and challenging topic to be studied in the
robotics field. The purpose of this work is to realize human-inspired hyper
dynamic manipulations by a smart manipulator. Based on the analysis
results from human hyper dynamic motion, we propose a solution to the
realization of hyper dynamic manipulation by robots through utilizing
dynamically coupled driving and structural joint stops. This chapter gives
the basic idea for utilizing dynamically coupled driving and structural joint
55
4.1 Introduction .................................................................................................. 56
4.2 Basic Concept ................................................................................................ 57
4.2.1 Utilization of Dynamically Coupled Driving .............................. 57
4.2.2 Utilization of Structural Joint Stop ................................................63
4.2.3 Case Study: Mechanism Design of a Golf Swing Robot ............65
4.3 Method to Utilize Dynamically Coupled Driving and Joint Stops ...... 67
4.3.1 Motion Generation and Control Method ..................................... 68
4.3.1.1 Motion Generation ............................................................ 68
4.3.1.2 Control Method ................................................................. 70
4.3.2 Case Study: Motion Generation and Control of a Golf
Swing Robot ...................................................................................... 70
4.4 Simulation and Experimental Results for the Golf Swing Robot ......... 74
4.4.1 Simulation ......................................................................................... 74
4.4.2 Experiments ......................................................................................77
4.5 Conclusion .................................................................................................... 82
References ...............................................................................................................83
4
Human-Inspired Hyper
Dynamic Manipulation
Aiguo Ming and Chunquan Xu
The University of Electro-Communications
Tokyo, Japan
Abstract
Hyper dynamic manipulation is defined as highly skilled manipulation
with hyper motion specifications, as performed by some athletes. Though
hyper dynamic manipulation has been realized in some conventional
robots, how to realize hyper dynamic manipulation by a smart structure
still remains an interesting and challenging topic to be studied in the
robotics field. The purpose of this work is to realize human-inspired hyper
dynamic manipulations by a smart manipulator. Based on the analysis
results from human hyper dynamic motion, we propose a solution to the
realization of hyper dynamic manipulation by robots through utilizing
dynamically coupled driving and structural joint stops. This chapter gives
the basic idea for utilizing dynamically coupled driving and structural joint
55