2015 Fiscal Year Annual Research Report
Beyond multi-contact planning
| Project/Area Number |
25280096
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
Kheddar Abder 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 国際客員研究員 (90572082)
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| Co-Investigator(Kenkyū-buntansha) |
金子 健二 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 上級主任研究員 (10356800)
吉田 英一 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 副研究部門長 (30358329)
金広 文男 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 研究グループ長 (70356806)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Keywords | デジタルヒューマンモデル / 機械学習 / ダイナミクス / 最適化 |
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| Outline of Annual Research Achievements |
In H27 we continued research on contact planning for the particular cases. We developed a controller that embed multi-robot systems and solve the multi-contact problem at once. We also investigated contact on deformable (walking) by achieving different experiments involving human motion capture with force shoes. We are still analyzing the data prior to experimenting contact transitions tests on mattresses. For WP2, we further combined contact-invariant planning with local QP controller as these were two separate modules. In WP3 we had bought force-sensing devices to investigate contact inverse problems in multi-contact grasping that will path the way for further extensions concerning whole-body multi-contact motion. We monitored interaction forces when human manipulate various objects and try to identify inverse optimal problem of the motions that are generated. Finally, we assessed the results obtained in this project with challenging scenarios that can be used in planning complex multi-contact general-purpose tasks. Our planner was used in planning ingress/egress utility vehicles or personal cars, climbing different ladders in different conditions (this was started in H26) and extremely cumbersome environments and narrow passages. These were demonstrated in real humanoid platforms (HRP-2 and HRP-4). We participated to the DARPA challenge with the AIST-NEDO team in the driving utility-car and climbing stairs scenarios.
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| Research Progress Status |
27年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
27年度が最終年度であるため、記入しない。
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| Causes of Carryover |
27年度が最終年度であるため、記入しない。
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| Expenditure Plan for Carryover Budget |
27年度が最終年度であるため、記入しない。
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[Journal Article] Multi-contact vertical ladder climbing by an HRP-2 humanoid2016
Author(s)
J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Bouyarmane, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita, F. Kanehiro
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Journal Title
Autonomous Robots
Volume: 40(3)
Pages: 561-580
DOI
Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
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