2021 Fiscal Year Final Research Report
Robust Navigation for Humanoids Under Disturbances Based on Traversability Map Depending on Carrying Objects and Footholds
Project/Area Number |
20K23340
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Research Category |
Grant-in-Aid for Research Activity Start-up
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Allocation Type | Multi-year Fund |
Review Section |
1002:Human informatics, applied informatics and related fields
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Research Institution | The University of Tokyo |
Principal Investigator |
Kojio Yuta 東京大学, 大学院情報理工学系研究科, 特任助教 (30886065)
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Project Period (FY) |
2020-09-11 – 2022-03-31
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Keywords | 適応移動計画 / 安定化制御 / 物体運搬 |
Outline of Final Research Achievements |
This research aims to realize autonomous locomotion for humanoids in complex environments with uneven terrain and obstacles such as gravel and sand, depending on the transported object and road surface conditions. The robot is able to move to a given goal point in an unknown environment by learning and memorizing, through trial and error, whether a certain location can be traversed or not. We have also clarified how the robot autonomously deals with unknown disturbances during the trial-and-error phase. The effectiveness of these methods was verified through various experiments with real robots.
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Free Research Field |
ヒューマノイド
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Academic Significance and Societal Importance of the Research Achievements |
ヒューマノイドロボットは人間に代わって重労働や危険作業を行うことが期待されているが,実用化にはいまだほど遠い.本研究は,そのような事前に予期できない環境における,ヒューマノイドの安定移動および物体運搬実現を目指した研究である.本研究により,操作者がロボットに目標ゴール地点のみを与えるだけで,物体抱え運搬および台車や一輪車を用いた運搬が実現できるようになったことを確認した.また,屋外環境における移動性能検証も行った.
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