複数の接触遷移方式を統合する全身行動計画法とヒューマノイドの滑り接触遷移行動への応用  [in Japanese] Contact-motion Planning Integrating Multiple Contact Transition Strategies and its Application to Slide Contact Motion for Humanoid Robot  [in Japanese]

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Author(s)

    • 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
    • 野沢 峻一 Nozawa Shunichi
    • 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

This paper presents a new contact-motion planning algorithm which searches not only contacts and motions but also contact transition strategies. Especially, this paper focus on slide-type and detach-type switching. Our idea is to separate the planning process into 3 steps: select contact transition strategy, search contact state, and generate motion. This separation prevents from complicating the motion search process which is generally a non-linear optimization process and is computationally expensive, and enables to manually control the priorities of all transition strategies. The contribution of this paper is to develop a new concept of contact-motion planning algorithm involving contact transition strategies switching, and to examine the algorithm's search capabilities through 2 scenarios: bed seating, and standing up. The bed seating experiment is shown not only in the simulation world but also in the real world with real humanoid robot.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 35(5), 393-402, 2017

    The Robotics Society of Japan

Codes

  • NII Article ID (NAID)
    130006855064
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • ISSN
    0289-1824
  • NDL Article ID
    028335368
  • NDL Call No.
    Z16-1325
  • Data Source
    NDL  J-STAGE 
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