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Realization of Mobility of a Humanoid Robot utilizing Grasping Capability

Research Project

Project/Area Number 16360130
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

HARADA Kensuke  National Institute of Advanced Industrial Science and Technology, 知能システム研究部門, Senior Research Scientist (50294533)

Co-Investigator(Kenkyū-buntansha) YOKOI Kazuhito  AIST, Group Leader (40358304)
MATSUMOTO Yoshio  Osaka University, 機械工学研究科, Professor (00314534)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥14,300,000 (Direct Cost: ¥14,300,000)
Fiscal Year 2006: ¥3,700,000 (Direct Cost: ¥3,700,000)
Fiscal Year 2005: ¥5,100,000 (Direct Cost: ¥5,100,000)
Fiscal Year 2004: ¥5,500,000 (Direct Cost: ¥5,500,000)
KeywordsHumanoid robot / Grasp / Stability / ZMP / ヒューマノイドロボット
Research Abstract

This research realizes the mobility of a humanoid robot by utilizing the grasping capability. If a hand of a humanoid robot contacts or grasps the environment, the robot can reduce the possibility to tip over. By using this function, we have realized the mobility of a humanoid robot. In 2004, we analyzed the theoretical relationship between the grasping force and the robot's stability. By using Open HRP, we showed that the humanoid robot can climb up the big gap by holding the handrail. In 2005, we constructed the finger. Also, we showed that the humanoid robot can carry a heavy object by using the whole body motion. Also, by using the force sensor information, the robot adaptively changes the walking parameters. In 2006, we have developed the four fingered hand. We also generated the human-like motion by a humanoid robot. By using this technique, we have realized the motion of a humanoid robot under complex environment.

Report

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

    (39 results)

All 2007 2006 2005 2004

All Journal Article (37 results) Book (1 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation2007

    • Author(s)
      原田 研介
    • Journal Title

      IEEE/ASME Trans. on Mechatronics 12・1

      Pages: 53-62

    • NAID

      110006264919

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation2007

    • Author(s)
      K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa
    • Journal Title

      IEEE/ASME Trans. on Mechatronics vol. 12, no. 1

      Pages: 53-62

    • NAID

      110006264919

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of Multi-fingered Hand for Life-size Humanoid Robots2007

    • Author(s)
      原田 研介
    • Journal Title

      IEEE International Conference on Robotics and Automation

      Pages: 913-920

    • NAID

      10020124544

    • Related Report
      2006 Annual Research Report
  • [Journal Article] An Analytical Method on Real-time Gait Planning fora Humanoid Robot2007

    • Author(s)
      原田 研介
    • Journal Title

      Journal of Humanoid Robotics 3・1

      Pages: 1-19

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Dynamics and Balance of a Humanoid Robot during Manipulation Tasks2007

    • Author(s)
      原田 研介
    • Journal Title

      IEEE Trans. on Robotic 22・3

      Pages: 568-575

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Integration of Manipulation and Locomotion by a Humanoid Robot2006

    • Author(s)
      原田 研介
    • Journal Title

      M. H, Ang and O. Khatib(Eds. ) : Experimental Robotics IX, STAR21

      Pages: 187-196

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Task Autonomy for a Teleoperated Humanoid Robot2006

    • Author(s)
      原田 研介
    • Journal Title

      preprints of International Symposium on Experimental Robotics (ISER 06)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Natural Motion Generation for Humanoid Robots2006

    • Author(s)
      原田 研介
    • Journal Title

      IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 833-839

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] Pynamics and Balance of a Humanoid Robot during Manipulation Tasks2006

    • Author(s)
      原田 研介
    • Journal Title

      IEEE Trans. on Robotics 22・3

      Pages: 568-575

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Integration of Manipulation and Locomotion by a Humanoid Robot2006

    • Author(s)
      K. Harada, S. Kajita, H. Saito, H. Hirukawa
    • Journal Title

      M. H, Ang and O. Khatib(Eds.) : Experimental Robotics IX, STAR 21

      Pages: 187-196

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Task Autonomy for a Teleoperated Humanoid Robot2006

    • Author(s)
      K. Harada, H. Hasunuma, K. Nakashima, Y. Kawai, H. Hirukawa
    • Journal Title

      Preprints of International Symposium on Experimental Robotics (ISER 06)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Natural Motion Generation for Humanoid Robots2006

    • Author(s)
      K. Harada, K. Hauser, T. Bretl, J.-C. Latombe
    • Journal Title

      IEEE/RSJ International Conference on Intelligent Robots and Sytems

      Pages: 833-839

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dynamics and Balance of a Humanoid Robot during Manipulation Tasks2006

    • Author(s)
      K. Harada, S. Kajita, K. Kaneko, H. Hirukawa
    • Journal Title

      IEEE Trans. on Robotics vol. 22, no. 3

      Pages: 568-575

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dynamics and Balance of a Humanoid Robot during Manipulation Task2006

    • Author(s)
      K.Harada
    • Journal Title

      Trans.on Robotics (Accepted)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] An Analytical Method on Real-time Gait Planning for a Humanoid Robot2006

    • Author(s)
      K.Harada
    • Journal Title

      Journal of Humanoid Robotics (Accepted)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 力制御型マニピュレーシヨンにもとづくヒューマノイドロボットの実時間歩容計画2005

    • Author(s)
      原田 研介
    • Journal Title

      日本機械学会誌C編 71・711

      Pages: 3181-3188

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ヒューマノイドロボットの実時間歩容計画における解析的アプローチ2005

    • Author(s)
      原田 研介
    • Journal Title

      日本ロボット学会誌 23・6

      Pages: 752-760

    • NAID

      10019037810

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation2005

    • Author(s)
      K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa
    • Journal Title

      Journal of Japan Society of Mechanical Engineers (C) 71(711)

      Pages: 3181-3188

    • NAID

      110006264919

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Analytical Approach on Real-time Gait Planning for Humanoid Robots2005

    • Author(s)
      K. Harada, S. Kajita, M. Morisawa, F. Kanerhiro, K. Fujiwara, K. Kaneko, H. Hirukawa
    • Journal Title

      Journal of Robotics Society of Japan 23(6)

      Pages: 752-760

    • NAID

      10019037810

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ヒューマノイドロボットの実時間歩容計画における解析的アプローチ2005

    • Author(s)
      原田 研介
    • Journal Title

      日本ロボット学会誌 22・3

      Pages: 752-760

    • NAID

      10019037810

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 力制御型マニピュレーションにもとづくヒューマノイドロボットの実時間歩容計画2005

    • Author(s)
      原田 研介
    • Journal Title

      日本機械学会誌C編 71-77

      Pages: 3181-3188

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A Humanoid Robot Carrying a Heavy Object2005

    • Author(s)
      原田 研介
    • Journal Title

      Proc.of 2005 IEEE Int.Conf.on Robotics and Automation

      Pages: 1724-1729

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 把握を利用したヒューマノイドロボットのバランス維持2004

    • Author(s)
      原田 研介
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ヒューマノイドロボットの脚腕協調におけるZMP解析2004

    • Author(s)
      原田 研介
    • Journal Title

      日本ロボット学会誌 22・1

      Pages: 28-36

    • NAID

      10011947712

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation2004

    • Author(s)
      原田 研介
    • Journal Title

      Proc. of2004 IEEE Int. Conf. on Robotics and Automation

      Pages: 616-622

    • NAID

      110006264919

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ヒューマノイドロボットによる押し操作における歩行動作2004

    • Author(s)
      原田 研介
    • Journal Title

      日本ロボット学会誌 22・3

      Pages: 112-119

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dynamical Balance of a Humanoid Robot Grasping an Environment2004

    • Author(s)
      原田 研介
    • Journal Title

      Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems

      Pages: 1167-1173

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dynamical Balance of a Humanoid Robot Grasping an Environment2004

    • Author(s)
      K. Harada, H. Hirukawa, F. Kanehiro, K. Fujiwara, K. Kaneko, S. Kajita, M. Nakamura
    • Journal Title

      Proc. of Conf. on Robotics and Mechatronics

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ZMP Analysis for Arm/Leg Coordination2004

    • Author(s)
      K. Harada, S. Kajita, F. Kanehiro,. K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa
    • Journal Title

      Journal of Robotics Society of Japan 22(1)

      Pages: 28-36

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation2004

    • Author(s)
      K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa
    • Journal Title

      Proc. of 2004 IEEE Int. Conf. on Robotics and Automation

      Pages: 616-622

    • NAID

      110006264919

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Walking Motion for a Humanoid Robot during Pushing Task2004

    • Author(s)
      K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa
    • Journal Title

      Journal of Robotics Society of Japan 22(3)

      Pages: 112-119

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Dynamical Balance of a Humanoid Robot Grasping an Environment2004

    • Author(s)
      K. Harada, H. Hirukawa, F. Kanehiro, K. Fujiwara, K. Kaneko, S. Kajita, M. Nakamura
    • Journal Title

      Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems

      Pages: 1167-1173

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ヒューマノイドロボットの脚腕協調におけるZMP解析2004

    • Author(s)
      原田 研介
    • Journal Title

      日本ロボット学会誌 22-1

      Pages: 28-36

    • NAID

      10011947712

    • Related Report
      2004 Annual Research Report
  • [Journal Article] ヒューマノイドロボットによる押し操作における歩行動2004

    • Author(s)
      原田 研介
    • Journal Title

      日本ロボット学会誌 22-3

      Pages: 112-119

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation2004

    • Author(s)
      Kensuke Harada
    • Journal Title

      Proc.of 2004 IEEE Int.Conf.on Robotics and Automation

      Pages: 616-622

    • NAID

      110006264919

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Dynamical Balance of a Humanoid Robot Grasping an Environment2004

    • Author(s)
      Kensuke Harada
    • Journal Title

      Proc.of 2004 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems

      Pages: 1167-1173

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Experiments on Dynamical Balance of a Humanoid Robot Grasping an Environment2004

    • Author(s)
      Kensuke Harada
    • Journal Title

      Proc.of Int.Conf.on Advanced Mechatronics

      Pages: 229-234

    • Related Report
      2004 Annual Research Report
  • [Book] ヒューマノイドロボット2005

    • Author(s)
      原田 研介(共著)
    • Total Pages
      200
    • Publisher
      オーム社
    • Related Report
      2005 Annual Research Report
  • [Patent(Industrial Property Rights)] 人間型ロボットの制御装置2004

    • Inventor(s)
      原田
    • Industrial Property Rights Holder
      原田
    • Industrial Property Number
      2004-189371
    • Filing Date
      2004-06-28
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary

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

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