2018 Fiscal Year Annual Research Report
Cutting-edge multi-contact behaviors
| Project/Area Number |
16H02886
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
Kheddar Abder 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 客員研究員 (90572082)
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| Co-Investigator(Kenkyū-buntansha) |
森澤 光晴 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (00392671)
吉田 英一 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 研究部門付 (30358329)
金広 文男 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 研究グループ長 (70356806)
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Keywords | 知能ロボティクス / ディジタルヒューマンモデル / 多点接触動作 / 機械学習 / 最適化 |
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| Outline of Annual Research Achievements |
This third fiscal year of the project we achieved tasks and goals from different work-packages (WP).
In WP1 that consists in monitoring human subjects in contact and estimating contact forces, we have obtained the following results. We developed multi-contact taxonomies and study of contact invariants. We witnessed that this idea was also studied by the team of Professor Tamim Asfour, at KIT Germany and they published a journal paper on this topic. Deep learning of multi-contact planning strategies was intensively studied. After trying couple of approaches without sound success, we decided to study reinforcement learning technique to try to generate learning of contacts from simulations.
In WP2 we have already tackled almost all the subjects. We enhanced the planner and the controller with sliding contacts. The issue here is that sliding in multi-contact requires controlling both tangential forces and the center of mass positioning in a very precise way. We have for now formulated in 2D the positioning of the center of mass depending on the contact forces we aim to target on each contact. For theoretical closed-loop stability and robustness of Quadratic Programming (QP) of multi-contact controllers, the formulation and integrated Simultaneous Localization and Mapping (SLAM) offered very good results.
In WP3 we addressed compliance and force regulation, and integration and assessment have been achieved within various demonstrators using the humanoid platform HRP-2Kai and HRP-4.
Overall, all the objectives of this fiscal year have been met beyond the expectation.
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| Research Progress Status |
平成30年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
平成30年度が最終年度であるため、記入しない。
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Research Products
(6 results)
