Achievement of Pivoting Large and Heavy Objects by Life-sized Humanoid Robot based on Online Estimation Control Method of Object State and Manipulation Force

• Murooka Masaki

  The University of Tokyo, Graduate School of Information Science and Technology

• Noda Shintaro

  The University of Tokyo, Graduate School of Information Science and Technology

• Nozawa Shunichi

  The University of Tokyo, Graduate School of Information Science and Technology

• Kakiuchi Yohei

  The University of Tokyo, Graduate School of Information Science and Technology

• Okada Kei

  The University of Tokyo, Graduate School of Information Science and Technology

• Inaba Masayuki

  The University of Tokyo, Graduate School of Information Science and Technology

Bibliographic Information

Other Title

• 等身大ヒューマノイドにおける物体状態・操作力オンライン推定制御法に基づく大型重量物ピボット運搬行動の実現
• トウシンダイ ヒューマノイド ニ オケル ブッタイ ジョウタイ ・ ソウサリョク オンライン スイテイ セイギョホウ ニ モトズク オオガタ ジュウリョウブツ ピボット ウンパン コウドウ ノ ジツゲン

Abstract

Pivoting manipulation is an effective method for carrying large and heavy objects which have high friction between the floor. In this paper, we propose the motion generation and control method for pivoting manipulation adaptive to the object state and contact force. The robot estimates the actual object motion and the required manipulation force online based on the kinematic and physical sensor feedback, and modifies the object path and the whole-body posture for pivoting manipulation. By this pivoting system, a robot can pivot the object without the knowledge of the object mass and friction parameter. Finally, we confirm that the proposed pivoting system enables a robot to acquire the adaptability to the variation of the object weight and the error of the object motion by the experiment, in which the life-sized humanoid robot carries the large furniture.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 32 (7), 595-602, 2014

  The Robotics Society of Japan

Keywords

• Humanoid
• Manipulation
• Pivoting

Details

• CRID: 1390001204730020992
• NII Article ID: 130004697450
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.32.595
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 025794153
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I025794153
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed