2023 Fiscal Year Final Research Report
Generation of fast and efficient motions for humanoid robots based on human skill
| Project/Area Number |
20K04542
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Sasebo National College of Technology |
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Principal Investigator |
Nakaura Shigeki 佐世保工業高等専門学校, 機械工学科, 教授 (20323793)
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| Project Period (FY) |
2020-04-01 – 2024-03-31
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| Keywords | 出力零化制御 / ゼロダイナミクス / 熟練者の技巧的動作 / ローリングバランス運動 / フラフープ運動 / トランポリン運動 / 実動作の運動解析 |
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| Outline of Final Research Achievements |
The adoption of Humanoid Robots into various fields is desired. However, conventional motion control methods based on trajectory planning have limitations in performing the same motion as skilled humans. In first, to make sure of key features in skillfull human's motions observation and measurement for those real motions are carried out. Then the goal of this research is to generate natural and smooth movements utlizing the zero dynamics that arise as a result of output zeroing control where the feature of dexterous human motion is controlled explicitly. In this research three specific skillful motions are seleected; Hula hooping, which involves complex constraints; trampoline jumping, which involves interaction with the external environment; and rolling balance, which involves an unstable rolling motion. Through the measurement experiments of these movements the analysis of those motions is achieved and the realization of rolling balance is accomplished by mechanical robotic system.
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| Free Research Field |
制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
急速な少子高齢化に伴い，様々な分野での人手不足が深刻化している．その解決方法の１つとして人型ロボットの導入が挙げられるが，従来の人型ロボットは人間のような繊細で滑らかな動作の実現は難しく，人間環境下への導入にはまだ適していない．そこで本研究課題では，人間が行う複雑で繊細な運動に着目し，ロボットでも実現させることを目標とした．これは，人間が行う複雑な動作の生成において，出力零化制御という制御理論の有効性を示す基礎研究として，また，ロボットに作用する様々な外力を利用しながら運動を行うことで，ロボットの機動性および柔軟性の向上が期待でき，人型ロボット導入の際の足掛かりを提案できると考えている．
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