2006 Fiscal Year Final Research Report Summary
Realization of Mobility of a Humanoid Robot utilizing Grasping Capability
| Project/Area Number |
16360130
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
HARADA Kensuke National Institute of Advanced Industrial Science and Technology, 知能システム研究部門, Senior Research Scientist (50294533)
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| Co-Investigator(Kenkyū-buntansha) |
YOKOI Kazuhito AIST, Group Leader (40358304)
MATSUMOTO Yoshio Osaka University, 機械工学研究科, Professor (00314534)
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| Project Period (FY) |
2004 – 2006
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| Keywords | Humanoid robot / Grasp / Stability / ZMP |
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| Research Abstract |
This research realizes the mobility of a humanoid robot by utilizing the grasping capability. If a hand of a humanoid robot contacts or grasps the environment, the robot can reduce the possibility to tip over. By using this function, we have realized the mobility of a humanoid robot. In 2004, we analyzed the theoretical relationship between the grasping force and the robot's stability. By using Open HRP, we showed that the humanoid robot can climb up the big gap by holding the handrail. In 2005, we constructed the finger. Also, we showed that the humanoid robot can carry a heavy object by using the whole body motion. Also, by using the force sensor information, the robot adaptively changes the walking parameters. In 2006, we have developed the four fingered hand. We also generated the human-like motion by a humanoid robot. By using this technique, we have realized the motion of a humanoid robot under complex environment.
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