能動機能と受動機能の切替制御システムを備えたヒューマノイドの双腕双脚による三輪車操作行動  [in Japanese] Tricycle Manipulation by Arms and Legs of Humanoid Robot based on Active and Passive Switching Control System  [in Japanese]

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Author(s)

    • 木村 航平 Kimura Kohei
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 野沢 峻一 Nozawa Shunichi
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 垣内 洋平 Kakiuchi Yohei
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 岡田 慧 Okada Kei
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 稲葉 雅幸 Inaba Masayuki
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo

Abstract

Humanoid robot has the potential to manipulate wide range of tools at daily life. Arms and legs of humanoid robot contribute this ability. Above all, manipulation tasks for vehicles which are the same size as a life-sized humanoid or larger size than it require the motion by both arms and legs of humanoid robot. In addition to the cooperative motion generator by arms and legs, it is also important for humanoid robot to stabilize self posture during driving vehicle. In this research, we focus on the arms-legs-integrated manipulation task for tricycle controlled by humanoid robot. We discuss and consider not only the control strategy for tricycle manipulation (handling and pedaling) but also the self stabilizing manipulation strategy by humanoid. This paper contributes active and passive switching control system for closed-loop dual-manipulators as common strategy. We show the experimental results for this proposed control system and demonstrate the tricycle manipulation skill by life-sized humanoid robot.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 34(7), 468-477, 2016

    The Robotics Society of Japan

Codes

  • NII Article ID (NAID)
    130005598544
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • ISSN
    0289-1824
  • NDL Article ID
    027648514
  • NDL Call No.
    Z16-1325
  • Data Source
    NDL  J-STAGE 
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