Humanoid's behavior planning and motion acquisition based on changing in toll-environment-robot relationship

2017 Fiscal Year Final Research Report

• Project/Area Number: 26700022
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Partial Multi-year Fund
• Research Field: Intelligent robotics
• Research Institution: The University of Tokyo
• Principal Investigator: Nozawa Shunichi 東京大学, 情報理工学系研究科, 特任講師 (80707620)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Keywords: ヒューマノイドロボット / 道具環境利用行動 / 未知物理特性推定

Outline of Final Research Achievements

The purpose of this research is revealing a method to plan the behavior of a humanoid robot and to acquire its motion, in which the tool-environment-robot relationship changes, such as carrying and climbing a movable stepladder.
(1) We proposed a method to detect the changing in force measurements through simple probing operations, to estimated an object-unknown-properties-related inequality based on it, and to generate motion by considering the estimated inequality. Even if the object properties are not known, such as mass properties and friction properties, we showed that the method uniformly achieves the humanoid manipulation for carrying objects and motion on a movable object. (2) We showed motion generation for attach-detach-type tool and riding-type tool, such as clothes and skaters. For both (1) and (2), we verified the feasibility of the proposed methods through the experiments using the real life-sized robots and the real environments.

Free Research Field

知能ロボティクス