Basic Study for Human Motion Controller Database and Motion Strategy Design

2015 Fiscal Year Final Research Report

• Project/Area Number: 25820086
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokyo (2014-2015); Nagoya University (2013)
• Principal Investigator: Yamamoto Ko 東京大学, 工学(系)研究科(研究院), 助教 (20641880)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 神経筋骨格モデル / 非線形制御

Outline of Final Research Achievements

To investigate how human realizes complicated motions under the physical constraint, we carried out basic research for constructing a motion controller database. We modeled human motion controller as a nonlinear controller, derived mathematical representation for the allowable range of motion under the physical constraint, and developed a framework for stable motion transitions. The proposed framework was validated by experiments using a humanoid robot platform. In the experiments, we realized a sequential motion transition with maintaining balance, and a falling avoidance control by autonomously switching motions against unknown disturbances.

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