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Task method by singular configuration for Humanoid robot

Research Project

Project/Area Number 16500100
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionSaitama University

Principal Investigator

KOTOSAKA Shinya  Saitama University, Graduate School of Science&Engineering, Associate professor, 大学院・工学部, 助教授 (30334147)

Co-Investigator(Kenkyū-buntansha) OHTAKI Hideyuki  Saitama University, Graduate School of Science&Engineering, Professor, 大学院・工学部, 教授 (90160522)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2006: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 2005: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2004: ¥1,700,000 (Direct Cost: ¥1,700,000)
Keywordssingular configuration / redundancy / humanoid robot / manipulator / trajectory generation / task method / 関節縮退
Research Abstract

In general, robot has to avoid a singular configuration, since degeneration of degree of freedom. Humanoid robot has a capability to perform tasks in the state of the singular configuration. Because humanoid robot has many degree of freedom. In this paper, new control method for humanoid robot with selective utilization of actuator by singular configuration is proposed. At first, we define the effective singular configuration for a task, and introduce the classification of joint. Next, we propose a method to derive the joint with effective singular configuration. Finally, we demonstrate a physical simulation results that pushing task with singular configuration. The advantage of proposed method is that it allow to save robot's energy consumption and to get more power at the its hand.

Report

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

    (7 results)

All 2007 2005

All Journal Article (7 results)

  • [Journal Article] 多自由度ロボツトにおける機構自由度の縮退を利用したアクチュエータの選択的利用2007

    • Author(s)
      琴坂信哉
    • Journal Title

      日本ロボット学会誌 Vol. 25, No.7(印刷中)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Selective utilization of actuator for a humanoid robot by singular configuration2007

    • Author(s)
      Shinya Kotosaka
    • Journal Title

      Journal of Robotics Society of Japan Vol.25, No.7(in press)

    • NAID

      10019787639

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 多自由度ロボットにおける機構自由度の縮退を利用したアクチュエータの選択的利用2007

    • Author(s)
      琴坂信哉
    • Journal Title

      日本ロボット学会誌 V01.25,N0.7(印刷中)

    • NAID

      10019787639

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 多自由度ロボットにおける機構自由度の縮退を利用した作業-縮退状況下にある関節の解析-2005

    • Author(s)
      琴坂信哉
    • Journal Title

      日本機械学会ロポティクス・メカトロニクス講演会講演論文集 (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] Robot motion by using singular configuration-Analysis of joint torque under singular configuration-2005

    • Author(s)
      Shinya Kotosaka
    • Journal Title

      Proceeding of 2005 JSME Conference on Robotics and Mechatronics 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] 多自由度ロボットにおける機構自由度の縮退を利用した作業 -縮退状況下にある関節の解析-2005

    • Author(s)
      琴坂信哉, 大滝英征
    • 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"05 (CD-ROM)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 多自由度ロボットにおける機構自由度の縮退を利用した作業-縮退状況下にある関節の解析-2005

    • Author(s)
      琴坂信哉
    • 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 (CD-ROM)

    • Related Report
      2004 Annual Research Report

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

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