ABSTRACT
Hyper dynamic manipulation is defined as highly skilled manipulation with hyper motion specifications, as performed by some athletes. Though hyper dynamic manipulation has been realized in some conventional robots, how to realize hyper dynamic manipulation by a smart structure still remains an interesting and challenging topic to be studied in the robotics field. The purpose of this work is to realize human-inspired hyper dynamic manipulations by a smart manipulator. Based on the analysis results from human hyper dynamic motion, we propose a solution to the realization of hyper dynamic manipulation by robots through utilizing dynamically coupled driving and structural joint stops. This chapter gives the basic idea for utilizing dynamically coupled driving and structural joint 56stops in a hyper dynamic manipulator. The implementation method shows how to realize the manipulation, and the simulations and experimental results provide verification of the overall effectiveness of this proposal.
