Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedFT4 Fenix 3 Wednesday, October 10, 2012, 16:15–17:30
Mechanism Design for Bio-Inspired Robots
Chair Shigeki Sugano, Waseda Univ.
Co-Chair Pål Liljebäck, SINTEF IKT
16:15–16:30 WedFT4.1
Reconsidering Inter- and Intra-limb Coordination
Mechanisms in Quadruped Locomotion
Takeshi Kano, Dai Owaki, and Akio Ishiguro
Research Institute of Electrical Communication, Tohoku University
Akio Ishiguro
Japan Science and Technology Agency, CREST
• We present an autonomous
decentralized control scheme
for quadruped locomotion
wherein inter- and intra-limb
coordination mechanisms are
well coupled.
• Simulation results show that the
quadruped exhibits transitioning
between walking and running
and the ability to adapt to
changes in body properties.
Time
Hind Fore
(a) ω = 4 (b) ω = 12
Flight
phase
16:45–17:00 WedFT4.3
Harp plucking robotic finger
Delphine Chadefaux, Jean-Loïc Le Carrou, Sylvère Billout and
Laurent Quartier
UPMC Univ Paris 06, UMR CNRS 7190, d'Alembert, Paris, France
Marie-Aude Vitrani
UPMC Univ Paris 06, UMR CNRS 7222, ISIR, Paris, France
• Design of a configurable robotic finger to
pluck harp string
• Various silicone fingertips tested
• Comparison with a real harpist
performance
• Validation through high-speed camera and
vibrational measurements descriptors
Robotic finger enhanced with a
silicone fingertip while plucking a
harp string.
17:15–17:30 WedFT4.5
A Modular and Waterproof Snake Robot Joint
Mechanism with a Novel Force/Torque Sensor
Pål Liljebäck* , **, Øyvind Stavdahl*, Kristin Y. Pettersen*, and
Jan Tommy Gravdahl*
* Dept. of Engineering Cybernetics, Norwegian University of Science and
Technology, Norway
** Dept. of Applied Cybernetics, SINTEF ICT, Norway
• We present a waterproof and
mechanically robust joint module for
a snake robot.
• The module contains a customdesigned
force/torque sensor based
on strain gauges.
• The sensor will enable the snake
robot to measure external contact
forces from its environment.
• Experimental results illustrate the
performance of the force/torque
sensor.
16:30–16:45 WedFT4.2
Materials and Mechanisms for
Amorphous Robotic Construction
Nils Napp and Jessica Wu and Radhika Nagpal
Harvard University, MA, USA
Olive R. Rappoli
Worcester Polytechnic Institute, MA, USA
• Amorphous materials conform to
arbitrary obstacles and can be used
to build in unstructured terrain
• Biological systems successfully use
many different types of amorphous
materials to build in nature
• Robotic mechanisms to deposit
various types of amorphous materials
are presented and compared
• We compare material properties and
evaluate them for use in research for
autonomous robotic construction with
amorphous materials
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–173–
Small remote controlled robot
building a foam ramp
17:00–17:15 WedFT4.4
Humanlike Shoulder Complex for
Musculoskeletal Robot Arms
Shuhei Ikemoto 1) , Fumiya Kannou 2) , and Koh Hosoda 1)
1) Department of Multimedia Engineering, Osaka University, Japan
2) Department of Adaptive Machine Systems, Osaka University, Japan
• The approach of mimicking
musculoskeletal systems of living
organisms has attracted considerable
attention in robotics.
• The superior limb girdle is fundamental
for the arm movements of humans.
• In particular, the glenohumeral and
scapulothoratic joints are difficult to
mimic the shapes and functionalities.
• We propose new designs of the two
joints to develop a musculoskeletal
robot arm.
Developed musculoskeletal robot arm
with humanlike shoulder complex