2006 Fiscal Year Final Research Report Summary
Task method by singular configuration for Humanoid robot
| Project/Area Number |
16500100
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Perception information processing/Intelligent robotics
|
|---|
| Research Institution | Saitama 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
|
| Keywords | singular configuration / redundancy / humanoid robot / manipulator / trajectory generation / task method |
|---|
| 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.
|
