2023 Fiscal Year Final Research Report
Expansion of Preparation Behavior Database in the Human's Torso for Speeding up Motion Generation of Humanoid Robots
| Project/Area Number |
21K13487
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 08030:Family and consumer sciences, and culture and living-related
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| Research Institution | University of Fukui |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 家事動作計測 / モーションキャプチャ / ヒューマノイドロボット |
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| Outline of Final Research Achievements |
This study extracted preparation postures in human's redundant bodies of daily-life motions to use for the motion generation of humanoid robots. The movement of subjects was measured using a motion capture system in a simulated daily-life environment with shoes equipped with six-axis force/torque sensors and four markers, which allowed for simultaneous evaluation of motion analysis and whole-body balance. We found a feature of the preparation postures where the torso slightly leans backward just before the lifting posture during the shelving of heavy objects and a motion feature where the torso moves closer to the object to reduce arm load during the placement posture.
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| Free Research Field |
知能ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
人間の家事に対する解析は家事労働時間や各人の割合など大まかな評価に留まり，各家事タスクにおける動作解析は多く存在しない．家事動作の解析についても手先の位置や全身バランスなどは評価されるが，これらを副次的に表現する冗長自由度の解析に至っておらず，ヒューマノイドロボットで家事を代行する際に十分な効率や力を発揮できない．本研究では人間の冗長部位の動作を解析することでヒューマノイドロボットによる代替，また人間の家事労働における身体負担の可視化を狙う．
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