Elucidation of Body Structure Configuration Method Based on Component Analysis of Humanoid and its Application to Whole Body Motion Control

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K20372
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 61050:Intelligent robotics-related
• Research Institution: The University of Tokyo
• Principal Investigator: Kojima Kunio 東京大学, 大学院情報理工学系研究科, 助教 (50839131)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: ヒューマノイド / 身体構造設計 / 動作制御

Outline of Final Research Achievements

In this study, we established a method to construct a humanoid robot that achieves the following three physical movement performances: A. Torque tracking performance of joints for motions involving various contacts with the environment, B. Angular and angular velocity tracking performance of joints for accurate and fast limb manipulation, and C. High drive power to weight ratio for dynamic whole-body motion of the robot. We have established a method to configure the design and control mechanism. In the process, we clarified the analysis and design method of the body structure that can achieve the body motion performance A to C by quantitatively evaluating the performance of each body component of the robot at the whole body level, devised and developed the body structure based on the design method, and verified that the body motion performance A to C was achieved. We also clarified the whole-body control law that realizes dynamic motions by using the designed and developed humanoids.

Free Research Field

知能ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究は「人と同程度の運動性能や身体動作機能を有する人型ロボットの身体構造をどのように構成するべきか」という問いに対して，ロボットの各身体構成要素の性能を定量的に全身レベルで評価しながら身体構造を構成することでこれまで実現できなかった跳躍のような動的全身動作が達成できるという解を得たという点で学術的意義がある．また，解明した身体構造の解析・設計法は人型ロボットにかかわらず他のロボットや機械の構造の解析にも適用可能であり，それらの動作性能を追求する際の足枷を探れるようになるという点で社会的意義がある．