2007 Fiscal Year Final Research Report Summary
Dexterous Whole-boby Manipulation of Humanoid robot
| Project/Area Number |
17360120
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
ARISUMI Hitoshi National Institute of Advanced Industrial Science and Technology, National Institute of Advanced Industrial Science and Technology, Intelligent Systems Research Institute, Senior Research Scientist (00356388)
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| Co-Investigator(Kenkyū-buntansha) |
YOKOI Kazuhito National Institute of Advanced Industrial Science and Technology., Intelligent Systems Research Institute., Research Group Leader (40358304)
HARADA Kensuke National Institute of Advanced Industrial Science and Technology., Intelligent Systems Research Institute., Senior Research Scientist (50294533)
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| Project Period (FY) |
2005 – 2007
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| Keywords | Humanoid robot / Dynamics / Whole-boby manipulation / Lifting / impact / Optimization / Dynamic simulation |
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| Research Abstract |
In this fiscal year, our goal is to realize a motion of lifting a heavy object dynamically with the humanoid robot. Key issue of lifting motion is how to reduce the load on humanoid arms in which lowed power actuators are implemented. The use of singular postures of arms is well-known to avoid actuator saturation of the arms. We firstly develop the method of selecting initial and final statically stable states of the motion. Both states are obtained by taking singular posture for low powered limbs, and high-manipulability posture for high powered ones. We thus address how to move the object from initial sate to final one passing through the unstable area in which the robot cannot hold the object statically due to saturation of the actuators. To generate the dynamic lifting motion, we propose a motion planner based on an optimization method with making better use of actuator's characteristics. In the optimization, the energy consumption of the actuators is minimized under constraints of the output limit of actuators, and stability based on the zero moment point(ZMP). By combining two different kinds of humanoid's motions such as accelerating an object upward and sliding the body into under the object, we show that the method enables to transit one singular posture of arms to another while lifting the object. We verify the effectiveness of the proposed method for reducing the load on the arms through simulation and experiments using the humanoid robot HRP-2 developed by Kawada Industries Inc. We confirm that a heavy object whose weight is more than forty percents of that of the robot can be lifted above the head of the robot within five seconds. A part of the results are presented in the National conference, and the International conference.
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[Presentation] Dynamic Lifting Motion of Humanoid Robots2007
Author(s)
Arisumi, H., Chardonnet, J-R., Kheddar, A., and Yokoi, K
Organizer
The IEEE International Conference on Robotics and Automation
Place of Presentation
Angelicum University, Roma, Italy
Year and Date
20070400
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Motion Planning for Whole Body Manipulation2007
Author(s)
K. Harada
Organizer
The IEEE International Conference on Robotics and Automation workshop on collision-free motion planning for dynamic system
Place of Presentation
Angelicum Univ., Roma, Italy
Year and Date
20070400
Description
「研究成果報告書概要(欧文)」より
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