Realization of robotic yoyo operation based on analysis of human motion

摘要

This study aims to realize a yoyo operation by an arm type robot, and we focus on actions of human arms playing yoyo. A fundamental yoyo operation called "gravity-pull", freely dropping a yoyo and pulling back, is realized. In our previous research, the joint torque tends bigger than the maximum torque of actuators. Therefore a human arm motion is observed to resemble a 3-links manipulator, and its equation of motion is derived. Considering its inverse system, the joint torque of the human arm can be calculated from measurements of the human arm by a motion capture system (MCS). Searching parameters of an arm type robot (PA10), the necessary torque for the PA10 to mimic human yoyo operations is estimated. The estimated torque in simulation give us the information on an adequate specification of a robot playing yoyo.