Responsive contact motion generation for humanoid robots

2023 Fiscal Year Final Research Report

• Project/Area Number: 21H03521
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 61050:Intelligent robotics-related
• Research Institution: Kobe University
• Principal Investigator: Tazaki Yuichi 神戸大学, 工学研究科, 准教授 (10547433)
• Co-Investigator(Kenkyū-buntansha): 玄 相昊 立命館大学, 理工学部, 教授 (30344691)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: 人型ロボット / 多点接触 / 転倒回避

Outline of Final Research Achievements

Although humanoid robots have high compatibility with living environment of humans, difficulty of control and risk of falling due to high center-of-gravity have been a barrier against expansion of its use. The objective of study was to expand the range of activity of humanoid robots not only to indoor but also to dynamic outdoor environments by develping responsive multi-contact motion generation and fall avoidance control techniques together with robotic hardware that is suited to implementing these methods. To this aim, we develped a multi-contact planning method based on the neighbor search of contact sequences, a fall-avoidance control based on the capturability database, and a small bipedal robot equipped with low-inertia leg mechanism.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

学術的意義としては，組み合わせ論的複雑性を呈する接触計画問題に対して，リーズナブルな計算コストで許容可能な品質の接触系列を生成する方法を考案した点がある．可捕性集合を事前計算するアプローチについても一定の価値が認められるものの，実用性の向上に向けては検索コストの低減や環境の変化への対応など課題が残った．社会的意義としては，サービスロボットの利用拡大に向けて，リスクを伴わずに外界に対して積極的に接触することができるロボットの設計論・制御論の確立に一定の貢献ができた．