Cargando…

An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation

Developing a human bionic manipulator to achieve certain humanoid behavioral skills is a rising problem. Enabling robots to operate the steering wheel to drive the vehicle is a challenging task. To address the problem, this work designs a novel 7-DOF (degree of freedom) humanoid manipulator based on...

Descripción completa

Detalles Bibliográficos
Autores principales: Wu, Tuochang, Ren, Junkai, Cheng, Chuang, Liu, Xun, Peng, Hui, Lu, Huimin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10603995/
https://www.ncbi.nlm.nih.gov/pubmed/37887626
http://dx.doi.org/10.3390/biomimetics8060495
_version_ 1785126729404121088
author Wu, Tuochang
Ren, Junkai
Cheng, Chuang
Liu, Xun
Peng, Hui
Lu, Huimin
author_facet Wu, Tuochang
Ren, Junkai
Cheng, Chuang
Liu, Xun
Peng, Hui
Lu, Huimin
author_sort Wu, Tuochang
collection PubMed
description Developing a human bionic manipulator to achieve certain humanoid behavioral skills is a rising problem. Enabling robots to operate the steering wheel to drive the vehicle is a challenging task. To address the problem, this work designs a novel 7-DOF (degree of freedom) humanoid manipulator based on the arm structure of human bionics. The 3-2-2 structural arrangement of the motors and the structural modifications at the wrist allow the manipulator to act more similar to a man. Meanwhile, to manipulate the steering wheel stably and compliantly, an admittance control approach is firstly applied for this case. Considering that the system parameters vary in configuration, we further introduce parameter fuzzification for admittance control. Designed simulations were carried out in Coppeliasim to verify the proposed control approach. As the result shows, the improved method could realize compliant force control under extreme configurations. It demonstrates that the humanoid manipulator can twist the steering wheel stably even in extreme configurations. It is the first exploration to operate a steering wheel similar to a human with a manipulator by using admittance control.
format Online
Article
Text
id pubmed-10603995
institution National Center for Biotechnology Information
language English
publishDate 2023
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-106039952023-10-28 An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation Wu, Tuochang Ren, Junkai Cheng, Chuang Liu, Xun Peng, Hui Lu, Huimin Biomimetics (Basel) Article Developing a human bionic manipulator to achieve certain humanoid behavioral skills is a rising problem. Enabling robots to operate the steering wheel to drive the vehicle is a challenging task. To address the problem, this work designs a novel 7-DOF (degree of freedom) humanoid manipulator based on the arm structure of human bionics. The 3-2-2 structural arrangement of the motors and the structural modifications at the wrist allow the manipulator to act more similar to a man. Meanwhile, to manipulate the steering wheel stably and compliantly, an admittance control approach is firstly applied for this case. Considering that the system parameters vary in configuration, we further introduce parameter fuzzification for admittance control. Designed simulations were carried out in Coppeliasim to verify the proposed control approach. As the result shows, the improved method could realize compliant force control under extreme configurations. It demonstrates that the humanoid manipulator can twist the steering wheel stably even in extreme configurations. It is the first exploration to operate a steering wheel similar to a human with a manipulator by using admittance control. MDPI 2023-10-19 /pmc/articles/PMC10603995/ /pubmed/37887626 http://dx.doi.org/10.3390/biomimetics8060495 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Wu, Tuochang
Ren, Junkai
Cheng, Chuang
Liu, Xun
Peng, Hui
Lu, Huimin
An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation
title An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation
title_full An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation
title_fullStr An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation
title_full_unstemmed An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation
title_short An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation
title_sort admittance control method based on parameters fuzzification for humanoid steering wheel manipulation
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10603995/
https://www.ncbi.nlm.nih.gov/pubmed/37887626
http://dx.doi.org/10.3390/biomimetics8060495
work_keys_str_mv AT wutuochang anadmittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT renjunkai anadmittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT chengchuang anadmittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT liuxun anadmittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT penghui anadmittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT luhuimin anadmittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT wutuochang admittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT renjunkai admittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT chengchuang admittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT liuxun admittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT penghui admittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation
AT luhuimin admittancecontrolmethodbasedonparametersfuzzificationforhumanoidsteeringwheelmanipulation