Cable-driven humanoid manipulators have gained widespread popularity in the human–robot interaction domain due to their lightweight design, flexibility, and safety. The working environments in human–robot interaction scenarios are typically unstructured, making obstacle avoidance path planning critical for cable-driven humanoid manipulators. However, the flexibility of cables and joint configurations result in low joint stiffness and low Cartesian stiffness for cable-driven humanoid manipulators, impacting operation accuracy and leading to potential failures in obstacle avoidance tasks. Based on the joint stiffness and Cartesian stiffness of the cable-driven manipulator, this work proposes a high-stiffness obstacle avoidance path planning algorithm incorporating a stiffness index for cable-driven humanoid manipulator. Finally, a prototype of a cable-driven humanoid manipulator is presented, and experimental results demonstrate that the proposed high-stiffness obstacle avoidance motion planning algorithm effectively improves the Cartesian stiffness performance of the cable-driven humanoid manipulator during obstacle avoidance motions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    High-Stiffness Obstacle Avoidance Path Planning for the Cable-Driven Humanoid Manipulator


    Additional title:

    Lect.Notes Mechanical Engineering


    Contributors:
    Chen, Yan (editor) / Liu, Lujiang (editor) / Liu, Xinjun (editor) / Liu, Haitao (editor) / Li, Ming (editor) / Sun, Tao (editor) / Pang, Shunxiang (author) / Guo, Fan (author) / Pan, Xiaoyang (author) / Shang, Weiwei (author)

    Conference:

    IFToMM China International Conference on Mechanism and Machine Science & Engineering ; 2024 ; Tianjin, China August 12, 2024 - August 14, 2024



    Publication date :

    2025-05-14


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Optimal Path Planning Obstacle Avoidance of Robot Manipulator System using Bézier Curve

    A. AL-Qassar, Arif / N. Abdulnabi, Ali | BASE | 2018

    Free access

    A Connectionist System for Learning Robot Manipulator Obstacle-Avoidance Capabilities in Path Planning

    Martin, P. / Del Pobil, A. P. / IEEE et al. | British Library Conference Proceedings | 1994


    Humanoid walking tracking obstacle avoidance robot

    GUO HAIFENG / JIA WENCAN | European Patent Office | 2023

    Free access

    Obstacle Avoidance Path Planning of Rotor UAV

    Zhang, Xiaodong / Hao, Xiangyang / Sun, Guopeng et al. | British Library Conference Proceedings | 2017


    A PATH PLANNING STRATEGY FOR OBSTACLE AVOIDANCE

    Blanc, G. / Mezouar, Y. / Martinet, P. et al. | British Library Conference Proceedings | 2006