Mapping method from human to robot arms with different kinematics
The accurate modeling from human arms to humanoid machine arms is the premise of humanoid robot's anthropomorphic compliant movement. In this paper, a mapping method simulating human upper limb motion mechanism is proposed to solve this problem. This method reconstructs the human arm model quic...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-01-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806241311532 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832590455737417728 |
|---|---|
| author | Ke-qiang Bai Guo-li Jiang Sibo Cai |
| author_facet | Ke-qiang Bai Guo-li Jiang Sibo Cai |
| author_sort | Ke-qiang Bai |
| collection | DOAJ |
| description | The accurate modeling from human arms to humanoid machine arms is the premise of humanoid robot's anthropomorphic compliant movement. In this paper, a mapping method simulating human upper limb motion mechanism is proposed to solve this problem. This method reconstructs the human arm model quickly and maps it to the dual-arm robot model. Firstly, the movement mechanism of human upper limb is analyzed and the upper limb model is established. According to the human double-arm kinematics theory, the calculation of arm motion rotation center and the analysis of force and torque are carried out. Then the mapping concept is used to start from the human morphological structure, establish a robot model similar to the arm structure and motion of the human hand, and generate the anthropomorphic configuration. At last, the data collected from the movement of human double arms are matched with the robot model, and the experiment verifies the feasibility of the proposed mapping method. |
| format | Article |
| id | doaj-art-3bbcb3144fd8444395466da6f71fe802 |
| institution | Kabale University |
| issn | 1729-8814 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj-art-3bbcb3144fd8444395466da6f71fe8022025-01-23T15:04:18ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142025-01-012210.1177/17298806241311532Mapping method from human to robot arms with different kinematicsKe-qiang Bai0Guo-li Jiang1Sibo Cai2 Engineering Research Center of Integration and Application of Digital Learning Technology, Ministry of Education, Beijing, China , Mianyang, China Engineering Research Center of Integration and Application of Digital Learning Technology, Ministry of Education, Beijing, ChinaThe accurate modeling from human arms to humanoid machine arms is the premise of humanoid robot's anthropomorphic compliant movement. In this paper, a mapping method simulating human upper limb motion mechanism is proposed to solve this problem. This method reconstructs the human arm model quickly and maps it to the dual-arm robot model. Firstly, the movement mechanism of human upper limb is analyzed and the upper limb model is established. According to the human double-arm kinematics theory, the calculation of arm motion rotation center and the analysis of force and torque are carried out. Then the mapping concept is used to start from the human morphological structure, establish a robot model similar to the arm structure and motion of the human hand, and generate the anthropomorphic configuration. At last, the data collected from the movement of human double arms are matched with the robot model, and the experiment verifies the feasibility of the proposed mapping method.https://doi.org/10.1177/17298806241311532 |
| spellingShingle | Ke-qiang Bai Guo-li Jiang Sibo Cai Mapping method from human to robot arms with different kinematics International Journal of Advanced Robotic Systems |
| title | Mapping method from human to robot arms with different kinematics |
| title_full | Mapping method from human to robot arms with different kinematics |
| title_fullStr | Mapping method from human to robot arms with different kinematics |
| title_full_unstemmed | Mapping method from human to robot arms with different kinematics |
| title_short | Mapping method from human to robot arms with different kinematics |
| title_sort | mapping method from human to robot arms with different kinematics |
| url | https://doi.org/10.1177/17298806241311532 |
| work_keys_str_mv | AT keqiangbai mappingmethodfromhumantorobotarmswithdifferentkinematics AT guolijiang mappingmethodfromhumantorobotarmswithdifferentkinematics AT sibocai mappingmethodfromhumantorobotarmswithdifferentkinematics |