等身大ヒューマノイド用防水スーツの開発とオンライン浮力推定および着地位置修正による水中歩行制御  [in Japanese] Development of Waterproof Suit for Life-sized Humanoid and Walking Control in Water using Online Buoyancy Estimation and Footstep Modification  [in Japanese]

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Author(s)

    • 小椎尾 侑多 Kojio Yuta
    • 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
    • 菅井 文仁 Sugai Fumihito
    • 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

<p>In this paper, we develop a waterproof suit for life-sized humanoid robots and propose a walking control method considering reaction forces from water for extending the region where the robots can move. The robots that wear a removable waterproof suit are easier to maintain and more versatile than the robots whose each component is manufactured to be waterproof. Unlike on land, humanoid robots are influenced mainly by the two forces due to water: buoyancy and drag. We estimate buoyancy online using force sensors at the ankles and consider the estimated buoyancy when generating a walking motion. The robot modifies footsteps in order to deal with large disturbances including drag force. We verify the effectiveness of the proposed methods through an experiment in which a life-sized humanoid robot walks down and up stairs, and walks fast in water. </p>

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 37(5), 427-437, 2019

    The Robotics Society of Japan

Codes

  • NII Article ID (NAID)
    130007663971
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • ISSN
    0289-1824
  • NDL Article ID
    029801532
  • NDL Call No.
    Z16-1325
  • Data Source
    NDL  J-STAGE 
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