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Whole-body grasping of humanoid robots

Research Project

Project/Area Number 16360128
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionNational Institute of Advanced Industrial Science and Technology

Principal Investigator

KAGAMI Satoshi  National Institute of Advanced Industrial Science and Technolog, Digilal Human Research Center, Senior Research Scientist, デジタルヒューマン研究センター, 研究チーム長 (30344196)

Co-Investigator(Kenkyū-buntansha) NISHIWAKI Koichi  National Institute of Advanced Industrial Science and Technolog, Digilal Human Research Center, Research Scientist, デジタルヒューマン研究センター, 研究員 (50359650)
MIYAKOSHI Seiichi  National Institute of Advanced Industrial Science and Technolog, Digilal Human Research Center, Research Scientist, デジタルヒューマン研究センター, 研究員 (20358120)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥13,900,000 (Direct Cost: ¥13,900,000)
Fiscal Year 2006: ¥4,800,000 (Direct Cost: ¥4,800,000)
Fiscal Year 2005: ¥6,500,000 (Direct Cost: ¥6,500,000)
Fiscal Year 2004: ¥2,600,000 (Direct Cost: ¥2,600,000)
KeywordsHumanoid Robot / Hand / Redundant Manipulator / Inverse Kinematics / Manipulability / Object Recognition & Positioning / 物体識別,位置認識
Research Abstract

This research aimed for realizing autonomous grasping of objects by using vision, tactile, and force sensors on full body humanoid with 2 legs and 2 arms.
Research topics described in the following were carried out :
1.Developemnt of hands that have force sensors, can support robot's own weight and can be implemented on a full size humanoid.
2.Memory based inverse kinematics solver that takes manipulability into consideration. The solver was developed for generating whole body reaching trajectories that maintain high manipulability and keep away from the joint angle limitations.
3.Target object detection and position measurement system by using stereo vision. Matching between shape model of objects and measured data was executed quickly by using rendering function of graphics hardware and correlation method. In addition, feature (edge) based matching system was developped also by using the graphics hardware in order to achieve more precise positioning and robustness to the partial occlusion.
4.Whole body balance control system while exerting force to target objects.The system consists of 1[ms] cycle impedance control of hand position, 20[ms] cycle dynamically stable walking pattern generation which get the feedback of force measured at wrists, and automatic adjustment of stepping position in order to maintain long-term balance.

Report

(4 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (54 results)

All 2006 2005 2004

All Journal Article (54 results)

  • [Journal Article] Hand-position Oriented Humanoid Walking Motion Control System2006

    • Author(s)
      Koichi Nishiwaki, Yasutaka Fukumoto, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Springer Tracts in Advanced Robotics Vol. 21

      Pages: 239-248

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Manipulability Optimization for Trajectory Generation2006

    • Author(s)
      Luis Guilamo, James Kuffner, Koichi Nishiwaki, Satoshi Kagami
    • Journal Title

      Proceedings of 2006 IEEE International Conference on Robotics and Automation(ICRA2006)

      Pages: 2017-2022

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] High Frequency Walking Pattern Generation based on Preview Control of ZMP2006

    • Author(s)
      Koichi Nishiwaki, Satoshi Kagami
    • Journal Title

      Proceedings of 2006 IEEE International Conference on Robotics and Automation(ICRA2006)

      Pages: 2667-2672

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Online Environment Reconstruction for Biped Navigation2006

    • Author(s)
      Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, Takeo Kanade
    • Journal Title

      Proceedings of 2006 IEEE International Conference on Robotics and Automation(ICRA2006)

      Pages: 3089-3094

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Short Cycle Pattern Generation for Online Walking Control System of Humanoids2006

    • Author(s)
      Koichi Nishiwaki, Satoshi Kagami
    • Journal Title

      Proceedings of 10th International Symposium on Experimental Robotics 2006 (ISER '06)

      Pages: 156-156

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] High Frequency Dynamically Stable Walking Pattern Generation that Enables Change of Foot Placement During the Step2006

    • Author(s)
      Koichi Nishiwaki, Satoshi Kagami
    • Journal Title

      Proceedings of 8th International IFAC Symposium on Robot Control(SYROCO'06)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Planning and Executing Navigation Among Movable Obstacles2006

    • Author(s)
      Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, James J. Kuffner
    • Journal Title

      Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2006)

      Pages: 820-826

    • NAID

      10024346444

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Localisation for Autonomous Humanoid Navigation2006

    • Author(s)
      Simon Thompson, Satoshi Kagami, Koichi Nishiwaki
    • Journal Title

      Proceedings of 2006 IEEE-RAS International Conference on Humanoid Robots(Humanoids2006)

      Pages: 13-19

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Motion Control System that Realizes Physical Interaction between Robot's Hands and Environment during Walk2006

    • Author(s)
      Koichi Nishiwaki, Woo-keun Yoon, Satoshi Kagami
    • Journal Title

      Proceedings of 2006 IEEE-RAS International Conference on Humanoid Robots(Humanoids2006)

      Pages: 542-547

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Motion Control System that Realizes Physical Interaction between Robot's Hands and Environment during Walk2006

    • Author(s)
      Koichi Nishiwaki, Woo-keun Yoon, Satoshi Kagami
    • Journal Title

      Proceedings of 2006 IEEE-RAS International Conference on Humanoid Robots

      Pages: 542-547

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Localization for Autonomous Humanoid Navigation2006

    • Author(s)
      Simon Thompson, Satoshi Kagami, Koichi Nishiwaki
    • Journal Title

      Proceedings of 2006 IEEE-RAS International Conference on Humanoid Robots

      Pages: 13-19

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Planning and Executing Navigation Among Movable Obstacles2006

    • Author(s)
      Mike Stilman, Koichi Nishiwaki, Satoshi kagami, James J.Kuffner
    • Journal Title

      Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 820-826

    • NAID

      10024346444

    • Related Report
      2006 Annual Research Report
  • [Journal Article] High Frequency Walking Pattern Generation based on Preview Control of ZMP2006

    • Author(s)
      Koichi Nishiwaki, Satoshi Kagami
    • Journal Title

      Proceedings of 2006 IEEE International Conference on Robotics and Automation

      Pages: 2667-2672

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Manipulability Optimization for Trajectory Generation2006

    • Author(s)
      Luis Guilamo, James J.Kuffner, Koichi Nishiwaki, Satoshi Kagami
    • Journal Title

      Proceedings of 2006 IEEE International Conference on Robotics and Automation

      Pages: 2017-2022

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Online Environment Reconstruction for Biped Navigation2006

    • Author(s)
      Philipp Michel, Joel Chestnutt, Satoshi kagami, Koichi Nishiwaki, James J.Kuffner, Takeo Kanade
    • Journal Title

      Proceedings of 2006 IEEE International Conference on Robotics and Automation

      Pages: 3089-3094

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Hand-position Oriented Humanoid Walking Motion Control System2006

    • Author(s)
      Koichi Nishiwaki, 他4名
    • Journal Title

      Springer Tracts in Advanced Robotics Vol.21

      Pages: 239-248

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Motion Planning for Humanoid Robots2005

    • Author(s)
      James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Robotics Research Vol. 15

      Pages: 365-374

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Whole-body Cooperative Balanced Motion Generation for Reaching2005

    • Author(s)
      Koichi Nishiwaki, Mamoru Kuga, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      International Journal of Humanoid Robotics Vol. 2, No. 4

      Pages: 437-457

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Object Manipulation by Hand using Whole-body Motion Coordination2005

    • Author(s)
      Koichi Nishiwaki, Yasutaka Fukumoto, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of the IEEE International Conference on Mechatronics & Automation(ICMA2005)

      Pages: 1778-1783

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Efficient Prioritized Inverse Kinematic Solutions for Redundant Manipulators2005

    • Author(s)
      Luis Guilamo, James Kuffner, Koichi Nishiwaki, Satoshi Kagami
    • Journal Title

      Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2005)

      Pages: 1905-1910

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Online Dense Local 3D World Reconstruction from Stereo Image Sequences2005

    • Author(s)
      Satoshi Kagami, Yutaka Takaoka, Yusuke Kida, Koichi Nishiwaki, Takeo Kanade
    • Journal Title

      Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2005)

      Pages: 2999-3004

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Whole-body Cooperative Balanced Motion Generation for Reaching2005

    • Author(s)
      Koichi Nishiwaki, 他4名
    • Journal Title

      International Journal of Humanoid Robotics Vol.2, No.4

      Pages: 437-457

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Online Dense Local 3D World Reconstruction from Stereo Image Sequences2005

    • Author(s)
      Satoshi Kagami, 他4名
    • Journal Title

      Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 2999-3004

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Efficient Prioritized Inverse Kinematic Solutions for Redundant Manipulators2005

    • Author(s)
      Luis Guilamo, 他3名
    • Journal Title

      Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 1905-1910

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Object Manipulation by Hand using Whole-body Motion Coordination2005

    • Author(s)
      Koichi Nishiwaki, 他4名
    • Journal Title

      Proceedings of the IEEE International Conference on Mechatronics & Automation

      Pages: 1778-1783

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Motion Planning for Humanoid Robots2005

    • Author(s)
      James Kuffner, 他4名
    • Journal Title

      Robotics Research Vol.15

      Pages: 365-374

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Hand-position Oriented Humanoid Walking Motion Control System2004

    • Author(s)
      Koichi Nishiwaki, Yasutaka Fukumoto, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of the 9th International Symposium on Experimental Robotics(ISER04) (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Hand-Centered Whole-Body Motion Control for a Humanoid Robot2004

    • Author(s)
      Yasutaka Fukumoto, Koichi Nishiwaki, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS04)

      Pages: 1186-1191

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Six-axis Force Sensing Footwear for Natural Walking Analysis2004

    • Author(s)
      Youhei Takahashi, Satoshi Kagami, Yoshihiro Ehara, Masaaki Mochimaru, Masahito Takahashi, Hiroshi
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 5374-5379

    • NAID

      110004069590

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Stereo Vision Terrain Modeling for Non-Planar Mobile Robot Mapping and Nabigation2004

    • Author(s)
      Simon Thompson, Satoshi Kagami
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 5392-5397

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 3D Map Building for a Humanoid Robot by using Visual Odometry2004

    • Author(s)
      Yutaka Takaoka, Yusuke Kida, Satoshi Kagami, Hiroshi MizoguchiI, Takeo Kanade
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 4444-4449

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] High-Speed Matrix Pressure Sensor for Humanoid Robot by Using Thin Force Sensing Resistance Rubber Sheets2004

    • Author(s)
      Satoshi Kagami, Youhei Takahashi, Masaaki Mochimaru, Hiroshi Mizoguchi
    • Journal Title

      Proceedings of the Third IEEE International Conference on Sensors(Sensors2004)

      Pages: 1534-1537

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Whole-body Cooperative Balanced Motion Generation for Reaching2004

    • Author(s)
      Koichi Nishiwaki, Mamoru Kuga, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of 2004 IEEE-RAS/RSJ International Conference on Humanoid Robots(Humanoids2004) (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Hand-position Oriented Humanoid Walking Motion Control System2004

    • Author(s)
      Koichi Nishiwaki, Yasutaka Fukumoto, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of the 9th International Symposium on Experimental Robotics(ISER04) ID162(CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Hand-Centered Whole-Body Motion Control for a Humanoid Robot2004

    • Author(s)
      Yasutaka Fukumoto, Koichi Nishiwaki, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROSO4)

      Pages: 1186-1191

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Six-axis Force Sensing Footwear for Natural Walking Analysis2004

    • Author(s)
      Youhei Takahashi, Satoshi kagami, Yoshihiro Ehara, Masaaki Mochimaru, Masahito Takahashi, Hiroshi Mizoguchi
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 5374-5379

    • NAID

      110004069590

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 3D Map Building for a Humanoid Robot by using Visual Odometry2004

    • Author(s)
      Yutaka Takaoka, Yusuke Kida, Satoshi Kagami, Hiroshi Mizoguchil, Takeo Kanade
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 4444-4449

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Whole-body Cooperative Balanced Motion Generation for Reaching2004

    • Author(s)
      Koichi Nishiwaki, Mamoru Kuga, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of 2004 IEEE-RAS/RSJ International Conference on Humanoid Robots(Humanoids2004) 62paper(CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Hand-position oriented humanoid walking motion control system2004

    • Author(s)
      Koichi Nishiwaki, Yasutaka Fukumoto, Satishi, Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      The 9th International Symposium on Experimental Robotics(ISER2004) ID162(CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 自然な歩行の解析のための六軸力計測フットウェア2004

    • Author(s)
      高橋洋平, 加賀美聡, 江原義弘, 持丸正明, 溝口博
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Multi-Sensor localisation for 2.5D map construction2004

    • Author(s)
      サイモン・トンプソン, 加賀美聡
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] ヒューマノイドの出先主導型操縦のための手袋型操作デバイスの開発2004

    • Author(s)
      神崎秀, 福本康隆, 西脇光一, 稲葉雅幸, 井上博允
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 等身大ヒューマノイドによる視覚と力覚を用いたはしご昇段行動2004

    • Author(s)
      安達隆介, 福本康隆, 西脇光一, 稲葉雅幸, 井上博允
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] ステレオ視を用いた確率的位置同定法の精度評価2004

    • Author(s)
      増田健司, トンプソン・サイモン, 加賀美聡, 金出武雄
    • Journal Title

      第22回日本ロボット学会学術講演会講演論文集 1B16(CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 移動ロボットのためのステレオ視からの三次元マップ生成2004

    • Author(s)
      高岡豊, 木田祐介, 加賀美聡, 溝口博, 金出武雄
    • Journal Title

      第22回日本ロボット学会学術講演会講演論文集 1A26(CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 自然な歩行解析のための六軸力計測フットウェア2004

    • Author(s)
      高橋洋平, 加賀美聡, 江原義弘, 持丸正明, 高橋正仁, 溝口博
    • Journal Title

      第22回日本ロボット学会学術講演会講演論文集 1A21(CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 外乱予見制御を用いたヒューマノイドの衝撃身構え行動2004

    • Author(s)
      神崎秀, 西脇光一, 岡田慧, 稲葉雅幸
    • Journal Title

      第22回日本ロボット学会学術講演会講演論文集 2L14(CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] ヒューマノイドの冗長自由度を活用したしやがみ動作のための逆運動学2004

    • Author(s)
      トーマス・ブッシュマン, 西脇光一, 稲葉雅幸, 井上博允
    • Journal Title

      第22回日本ロボット学会学術講演会講演論文集 2A17(CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Hand-centered whole-body motion control for a humanoid robot2004

    • Author(s)
      Yasutaka Fukumoto, Koichi Nishiwaki, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS04)

      Pages: 1186-1191

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Six-axis force sensing footwear for natural walking analysis2004

    • Author(s)
      Youhei Takahashi, Satoshi Kagami, Yoshihiro Ehara, Masaaki Mochimaru, Masahito Takahashi, Hiroshi Mizoguchi
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 5374-5379

    • NAID

      110004069590

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Stereo vision terrain modeling for non-planar mobile robot mapping and nabigation2004

    • Author(s)
      Simon Thompson, Satoshi Kagami
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 5391-5397

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 3D map building for a humanoid robot by using visual odometry2004

    • Author(s)
      Yutaka Takaoka, Yusuke Kida, Satoshi Kagami, Hiroshi Mizoguchi, Takeo Kanade
    • Journal Title

      Proceedings of 2004 IEEE International Conference on Systems, Man & Cybernetics(SMC04)

      Pages: 4444-4449

    • Related Report
      2004 Annual Research Report
  • [Journal Article] High-speed matrix pressure sensor for humanoid robot by using thin force sensing resistance rubber sheets2004

    • Author(s)
      Satoshi Kagami, Youhei Takahashi, Masaaki Mochimaru, Hiroshi Mizoguchi
    • Journal Title

      Proceedings of the Third IEEE International Conference on Sensors(SENSORS2004)

      Pages: 1534-1537

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Whole-body cooperative balanced motion generation for reaching2004

    • Author(s)
      Koichi Nishiwaki, Mamoru Kuga, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
    • Journal Title

      Proceedings of IEEE-RAS/RSJ International Conference on Humanoid Robots(Humanoids2004) (CD-ROM)

    • Related Report
      2004 Annual Research Report

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Published: 2004-04-01   Modified: 2016-04-21  

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