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

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Author(s)

    • 室岡 雅樹 Murooka Masaki
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 野田 晋太朗 Noda Shintaro
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 垣内 洋平 Kakiuchi Yohei
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 岡田 慧 Okada Kei
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 稲葉 雅幸 Inaba Masayuki
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology

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

Codes

  • NII Article ID (NAID)
    130004697450
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • ISSN
    0289-1824
  • NDL Article ID
    025794153
  • NDL Call No.
    Z16-1325
  • Data Source
    NDL  J-STAGE 
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