| Budget Amount *help |
¥24,830,000 (Direct Cost: ¥19,100,000、Indirect Cost: ¥5,730,000)
Fiscal Year 2017: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2016: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2015: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2014: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
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| Outline of Final Research Achievements |
The purpose of this research is revealing a method to plan the behavior of a humanoid robot and to acquire its motion, in which the tool-environment-robot relationship changes, such as carrying and climbing a movable stepladder.
(1) We proposed a method to detect the changing in force measurements through simple probing operations, to estimated an object-unknown-properties-related inequality based on it, and to generate motion by considering the estimated inequality. Even if the object properties are not known, such as mass properties and friction properties, we showed that the method uniformly achieves the humanoid manipulation for carrying objects and motion on a movable object. (2) We showed motion generation for attach-detach-type tool and riding-type tool, such as clothes and skaters. For both (1) and (2), we verified the feasibility of the proposed methods through the experiments using the real life-sized robots and the real environments.
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